api-core/Cargo.toml

@@ -7,6 +7,6 @@ authors = ["Sergey <me@sergeysav.com>"]
 
 [dependencies]
 chrono = { workspace = true, features = ["serde"] }
-derive_more = { workspace = true, features = ["try_into"] }
+derive_more = { workspace = true, features = ["from", "try_into"] }
 serde = { workspace = true, features = ["derive"] }
 thiserror = { workspace = true }

api-core/src/data_type.rs

@@ -1,3 +1,4 @@
+use crate::data_value::DataValue;
 use serde::{Deserialize, Serialize};
 
 #[derive(Debug, Clone, Copy, PartialEq, Eq, Serialize, Deserialize)]
@@ -7,7 +8,7 @@ pub enum DataType {
     Boolean,
 }
 
-pub trait ToDataType {
+pub trait ToDataType: Into<DataValue> {
     const DATA_TYPE: DataType;
 }
 

api-core/src/data_value.rs

@@ -1,7 +1,7 @@
-use derive_more::TryInto;
+use derive_more::{From, TryInto};
 use serde::{Deserialize, Serialize};
 
-#[derive(Debug, Clone, Copy, Serialize, Deserialize, TryInto)]
+#[derive(Debug, Clone, Copy, Serialize, Deserialize, From, TryInto)]
 pub enum DataValue {
     Float32(f32),
     Float64(f64),

api/src/client/command.rs

@@ -5,12 +5,18 @@ use std::fmt::Display;
 use std::sync::Arc;
 use tokio_util::sync::CancellationToken;
 
-pub struct Commanding;
+pub struct CommandRegistry {
-
-impl Commanding {
-    pub fn register_handler<C: IntoCommandDefinition, F, E: Display>(
     client: Arc<Client>,
-        command_name: String,
+}
+
+impl CommandRegistry {
+    pub fn new(client: Arc<Client>) -> Self {
+        Self { client }
+    }
+
+    pub fn register_handler<C: IntoCommandDefinition, F, E: Display>(
+        &self,
+        command_name: impl Into<String>,
         mut callback: F,
     ) -> CommandHandle
     where
@@ -20,8 +26,9 @@ impl Commanding {
         let result = CommandHandle {
             cancellation_token: cancellation_token.clone(),
         };
+        let client = self.client.clone();
 
-        let command_definition = C::create(command_name);
+        let command_definition = C::create(command_name.into());
 
         tokio::spawn(async move {
             while !cancellation_token.is_cancelled() {

api/src/client/config.rs

@@ -0,0 +1,11 @@
+pub struct ClientConfiguration {
+    pub send_buffer_size: usize,
+}
+
+impl Default for ClientConfiguration {
+    fn default() -> Self {
+        Self {
+            send_buffer_size: 128,
+        }
+    }
+}

api/src/client/context.rs

@@ -1,3 +1,4 @@
+use crate::client::config::ClientConfiguration;
 use crate::client::error::{ConnectError, MessageError};
 use crate::client::{Callback, ClientChannel, OutgoingMessage, RegisteredCallback};
 use crate::messages::callback::GenericCallbackError;
@@ -23,6 +24,7 @@ pub struct ClientContext {
     pub cancel: CancellationToken,
     pub request: Request,
     pub connected_state_tx: watch::Sender<bool>,
+    pub client_configuration: ClientConfiguration,
 }
 
 impl ClientContext {
@@ -71,7 +73,7 @@ impl ClientContext {
         };
         info!("Connected to {}", self.request.uri());
 
-        let (tx, rx) = mpsc::channel(128);
+        let (tx, rx) = mpsc::channel(self.client_configuration.send_buffer_size);
         *write_lock = tx;
         drop(write_lock);
 

api/src/client/mod.rs

@@ -1,8 +1,10 @@
 pub mod command;
+mod config;
 mod context;
 pub mod error;
 pub mod telemetry;
 
+use crate::client::config::ClientConfiguration;
 use crate::client::error::{MessageError, RequestError};
 use crate::messages::callback::GenericCallbackError;
 use crate::messages::payload::RequestMessagePayload;
@@ -41,6 +43,16 @@ pub struct Client {
 
 impl Client {
     pub fn connect<R>(request: R) -> Result<Self, ConnectError>
+    where
+        R: IntoClientRequest,
+    {
+        Self::connect_with_config(request, ClientConfiguration::default())
+    }
+
+    pub fn connect_with_config<R>(
+        request: R,
+        config: ClientConfiguration,
+    ) -> Result<Self, ConnectError>
     where
         R: IntoClientRequest,
     {
@@ -52,6 +64,7 @@ impl Client {
             cancel: cancel.clone(),
             request: request.into_client_request()?,
             connected_state_tx,
+            client_configuration: config,
         };
 
         context.start(channel.clone())?;

api/src/client/telemetry.rs

@@ -1,23 +1,37 @@
 use crate::client::error::MessageError;
 use crate::client::Client;
-use crate::data_type::DataType;
 use crate::data_value::DataValue;
 use crate::messages::telemetry_definition::TelemetryDefinitionRequest;
 use crate::messages::telemetry_entry::TelemetryEntry;
+use api_core::data_type::{DataType, ToDataType};
 use chrono::{DateTime, Utc};
+use std::marker::PhantomData;
 use std::sync::Arc;
 use tokio::sync::{oneshot, RwLock};
 use tokio_util::sync::CancellationToken;
 use uuid::Uuid;
 
-pub struct Telemetry;
+pub struct TelemetryRegistry {
+    client: Arc<Client>,
+}
 
-impl Telemetry {
+impl TelemetryRegistry {
-    pub async fn register(
+    pub fn new(client: Arc<Client>) -> Self {
+        Self { client }
+    }
+
+    #[inline]
+    pub async fn register_generic(
+        &self,
+        name: impl Into<String>,
+        data_type: DataType,
+    ) -> GenericTelemetryHandle {
+        // inner for compilation performance
+        async fn inner(
             client: Arc<Client>,
             name: String,
             data_type: DataType,
-    ) -> TelemetryHandle {
+        ) -> GenericTelemetryHandle {
             let cancellation_token = CancellationToken::new();
             let cancel_token = cancellation_token.clone();
             let stored_client = client.clone();
@@ -57,21 +71,34 @@ impl Telemetry {
             // Wait until the write lock is released for the first time
             drop(response_uuid.read().await);
 
-        TelemetryHandle {
+            GenericTelemetryHandle {
                 cancellation_token,
                 uuid: response_uuid,
                 client: stored_client,
             }
         }
+        inner(self.client.clone(), name.into(), data_type).await
     }
 
-pub struct TelemetryHandle {
+    #[inline]
+    pub async fn register<T: ToDataType>(&self, name: impl Into<String>) -> TelemetryHandle<T> {
+        self.register_generic(name, T::DATA_TYPE).await.coerce()
+    }
+}
+
+impl Drop for GenericTelemetryHandle {
+    fn drop(&mut self) {
+        self.cancellation_token.cancel();
+    }
+}
+
+pub struct GenericTelemetryHandle {
     cancellation_token: CancellationToken,
     uuid: Arc<RwLock<Uuid>>,
     client: Arc<Client>,
 }
 
-impl TelemetryHandle {
+impl GenericTelemetryHandle {
     pub async fn publish(
         &self,
         value: DataValue,
@@ -97,10 +124,42 @@ impl TelemetryHandle {
 
         Ok(())
     }
+
+    #[inline]
+    pub async fn publish_now(&self, value: DataValue) -> Result<(), MessageError> {
+        self.publish(value, Utc::now()).await
     }
 
-impl Drop for TelemetryHandle {
+    fn coerce<T: Into<DataValue>>(self) -> TelemetryHandle<T> {
-    fn drop(&mut self) {
+        TelemetryHandle::<T> {
-        self.cancellation_token.cancel();
+            generic_handle: self,
+            _phantom: PhantomData,
+        }
+    }
+}
+
+pub struct TelemetryHandle<T> {
+    generic_handle: GenericTelemetryHandle,
+    _phantom: PhantomData<T>,
+}
+
+impl<T> TelemetryHandle<T> {
+    pub fn to_generic(self) -> GenericTelemetryHandle {
+        self.generic_handle
+    }
+    pub fn as_generic(&self) -> &GenericTelemetryHandle {
+        &self.generic_handle
+    }
+}
+
+impl<T: Into<DataValue>> TelemetryHandle<T> {
+    #[inline]
+    pub async fn publish(&self, value: T, timestamp: DateTime<Utc>) -> Result<(), MessageError> {
+        self.as_generic().publish(value.into(), timestamp).await
+    }
+
+    #[inline]
+    pub async fn publish_now(&self, value: T) -> Result<(), MessageError> {
+        self.publish(value, Utc::now()).await
     }
 }

examples/simple_command/src/main.rs

@@ -1,4 +1,4 @@
-use api::client::command::Commanding;
+use api::client::command::CommandRegistry;
 use api::client::Client;
 use api::macros::IntoCommandDefinition;
 use api::messages::command::CommandHeader;
@@ -20,13 +20,14 @@ async fn main() -> Result<(), Box<dyn Error>> {
         });
     }
 
-    let client = Arc::new(Client::connect("ws://[::1]:8080/backend")?);
+    let client = Arc::new(Client::connect("ws://localhost:8080/backend")?);
+    let cmd = CommandRegistry::new(client);
 
-    let handle =
+    let handle = cmd.register_handler("simple_command/a", handle_command);
-        Commanding::register_handler(client, "simple_command/a".to_string(), handle_command);
 
     cancellation_token.cancelled().await;
 
+    // This will automatically drop when we return
     drop(handle);
 
     Ok(())

examples/simple_producer/src/main.rs

@@ -1,10 +1,9 @@
-use api::client::telemetry::Telemetry;
+use api::client::telemetry::TelemetryRegistry;
 use api::client::Client;
-use api::data_type::DataType;
-use api::data_value::DataValue;
 use chrono::{TimeDelta, Utc};
 use futures_util::future::join_all;
 use num_traits::FloatConst;
+use std::f64;
 use std::sync::Arc;
 use std::time::Duration;
 use tokio::time::{sleep_until, Instant};
@@ -14,111 +13,31 @@ use tokio_util::sync::CancellationToken;
 async fn main() -> anyhow::Result<()> {
     env_logger::init();
 
-    let client = Arc::new(Client::connect("ws://[::1]:8080/backend")?);
+    let client = Arc::new(Client::connect("ws://localhost:8080/backend")?);
+    let tlm = TelemetryRegistry::new(client);
 
-    let time_offset = Telemetry::register(
+    let time_offset = tlm.register::<f64>("simple_producer/time_offset").await;
-        client.clone(),
+
-        "simple_producer/time_offset".into(),
+    let publish_offset = tlm.register::<f64>("simple_producer/publish_offset").await;
-        DataType::Float64,
+
-    )
+    let await_offset = tlm.register::<f64>("simple_producer/await_offset").await;
+
+    let bool_tlm_handle = tlm.register::<bool>("simple_producer/bool").await;
+
+    let sin_handles = join_all((1..=6).map(|i| {
+        tlm.register::<f32>(format!(
+            "simple_producer/sin{}",
+            if i == 1 { "".into() } else { i.to_string() }
+        ))
+    }))
     .await;
 
-    let publish_offset = Telemetry::register(
+    let cos_handles = join_all((1..=6).map(|i| {
-        client.clone(),
+        tlm.register::<f64>(format!(
-        "simple_producer/publish_offset".into(),
+            "simple_producer/cos{}",
-        DataType::Float64,
+            if i == 1 { "".into() } else { i.to_string() }
-    )
+        ))
-    .await;
+    }))
-
-    let await_offset = Telemetry::register(
-        client.clone(),
-        "simple_producer/await_offset".into(),
-        DataType::Float64,
-    )
-    .await;
-
-    let sin_tlm_handle = Telemetry::register(
-        client.clone(),
-        "simple_producer/sin".into(),
-        DataType::Float32,
-    )
-    .await;
-    let cos_tlm_handle = Telemetry::register(
-        client.clone(),
-        "simple_producer/cos".into(),
-        DataType::Float64,
-    )
-    .await;
-    let bool_tlm_handle = Telemetry::register(
-        client.clone(),
-        "simple_producer/bool".into(),
-        DataType::Boolean,
-    )
-    .await;
-
-    let sin2_tlm_handle = Telemetry::register(
-        client.clone(),
-        "simple_producer/sin2".into(),
-        DataType::Float32,
-    )
-    .await;
-    let cos2_tlm_handle = Telemetry::register(
-        client.clone(),
-        "simple_producer/cos2".into(),
-        DataType::Float64,
-    )
-    .await;
-
-    let sin3_tlm_handle = Telemetry::register(
-        client.clone(),
-        "simple_producer/sin3".into(),
-        DataType::Float32,
-    )
-    .await;
-    let cos3_tlm_handle = Telemetry::register(
-        client.clone(),
-        "simple_producer/cos3".into(),
-        DataType::Float64,
-    )
-    .await;
-
-    let sin4_tlm_handle = Telemetry::register(
-        client.clone(),
-        "simple_producer/sin4".into(),
-        DataType::Float32,
-    )
-    .await;
-    let cos4_tlm_handle = Telemetry::register(
-        client.clone(),
-        "simple_producer/cos4".into(),
-        DataType::Float64,
-    )
-    .await;
-
-    let sin5_tlm_handle = Telemetry::register(
-        client.clone(),
-        "simple_producer/sin5".into(),
-        DataType::Float32,
-    )
-    .await;
-    let cos5_tlm_handle = Telemetry::register(
-        client.clone(),
-        "simple_producer/cos5".into(),
-        DataType::Float64,
-    )
-    .await;
-
-    let sin6_tlm_handle = Telemetry::register(
-        client.clone(),
-        "simple_producer/sin6".into(),
-        DataType::Float32,
-    )
-    .await;
-    let cos6_tlm_handle = Telemetry::register(
-        client.clone(),
-        "simple_producer/cos6".into(),
-        DataType::Float64,
-    )
     .await;
 
     let cancellation_token = CancellationToken::new();
@@ -134,81 +53,44 @@ async fn main() -> anyhow::Result<()> {
     let start_instant = Instant::now();
     let mut next_time = start_instant;
     let mut index = 0;
-    let mut tasks = vec![];
     while !cancellation_token.is_cancelled() {
         next_time += Duration::from_millis(10);
         index += 1;
         sleep_until(next_time).await;
         let publish_time = start_time + TimeDelta::from_std(next_time - start_instant).unwrap();
         let actual_time = Instant::now();
-        tasks.push(time_offset.publish(
-            DataValue::Float64((actual_time - next_time).as_secs_f64()),
-            Utc::now(),
-        ));
-        tasks.push(sin_tlm_handle.publish(
-            DataValue::Float32((f32::TAU() * (index as f32) / (1000.0_f32)).sin()),
-            publish_time,
-        ));
-        tasks.push(cos_tlm_handle.publish(
-            DataValue::Float64((f64::TAU() * (index as f64) / (1000.0_f64)).cos()),
-            publish_time,
-        ));
-        tasks.push(bool_tlm_handle.publish(DataValue::Boolean(index % 1000 > 500), publish_time));
-        tasks.push(sin2_tlm_handle.publish(
-            DataValue::Float32((f32::TAU() * (index as f32) / (500.0_f32)).sin()),
-            publish_time,
-        ));
-        tasks.push(cos2_tlm_handle.publish(
-            DataValue::Float64((f64::TAU() * (index as f64) / (500.0_f64)).cos()),
-            publish_time,
-        ));
-        tasks.push(sin3_tlm_handle.publish(
-            DataValue::Float32((f32::TAU() * (index as f32) / (333.0_f32)).sin()),
-            publish_time,
-        ));
-        tasks.push(cos3_tlm_handle.publish(
-            DataValue::Float64((f64::TAU() * (index as f64) / (333.0_f64)).cos()),
-            publish_time,
-        ));
-        tasks.push(sin4_tlm_handle.publish(
-            DataValue::Float32((f32::TAU() * (index as f32) / (250.0_f32)).sin()),
-            publish_time,
-        ));
-        tasks.push(cos4_tlm_handle.publish(
-            DataValue::Float64((f64::TAU() * (index as f64) / (250.0_f64)).cos()),
-            publish_time,
-        ));
-        tasks.push(sin5_tlm_handle.publish(
-            DataValue::Float32((f32::TAU() * (index as f32) / (200.0_f32)).sin()),
-            publish_time,
-        ));
-        tasks.push(cos5_tlm_handle.publish(
-            DataValue::Float64((f64::TAU() * (index as f64) / (200.0_f64)).cos()),
-            publish_time,
-        ));
-        tasks.push(sin6_tlm_handle.publish(
-            DataValue::Float32((f32::TAU() * (index as f32) / (166.0_f32)).sin()),
-            publish_time,
-        ));
-        tasks.push(cos6_tlm_handle.publish(
-            DataValue::Float64((f64::TAU() * (index as f64) / (166.0_f64)).cos()),
-            publish_time,
-        ));
 
-        tasks.push(publish_offset.publish(
+        // Due to how telemetry handles are implemented, unless the send buffer is full awaiting
-            DataValue::Float64((Instant::now() - actual_time).as_secs_f64()),
+        // these will return immediately
-            Utc::now(),
+        time_offset
-        ));
+            .publish_now((actual_time - next_time).as_secs_f64())
+            .await?;
+        bool_tlm_handle
+            .publish(index % 1000 > 500, publish_time)
+            .await?;
 
-        // Join the tasks so they all run in parallel
+        for (i, sin) in sin_handles.iter().enumerate() {
-        for task in join_all(tasks.drain(..)).await {
+            sin.publish(
-            task?;
+                (f32::TAU() * (index as f32) / (1000.0_f32 / (i + 1) as f32)).sin(),
+                publish_time,
+            )
+            .await?;
+        }
+        for (i, cos) in cos_handles.iter().enumerate() {
+            cos.publish(
+                (f64::TAU() * (index as f64) / (1000.0_f64 / (i + 1) as f64)).cos(),
+                publish_time,
+            )
+            .await?;
         }
 
-        tasks.push(await_offset.publish(
+        publish_offset
-            DataValue::Float64((Instant::now() - actual_time).as_secs_f64()),
+            .publish((Instant::now() - actual_time).as_secs_f64(), Utc::now())
-            Utc::now(),
+            .await?;
-        ));
+
+        await_offset
+            .publish((Instant::now() - actual_time).as_secs_f64(), Utc::now())
+            .await?;
     }
 
     Ok(())