Cargo.lock

@@ -2132,6 +2132,7 @@ dependencies = [
 name = "simple_command"
 version = "0.0.0"
 dependencies = [
+ "anyhow",
  "chrono",
  "log",
  "num-traits",

examples/simple_command/Cargo.toml

@@ -11,3 +11,4 @@ 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

@@ -1,11 +1,79 @@
 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::{CommandDefinitionRequest, CommandParameterDefinition, TelemetryDataType};
+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>> {
@@ -20,8 +88,10 @@ async fn main() -> Result<(), Box<dyn Error>> {
 
     let mut client = CommandServiceClient::connect("http://[::1]:50051").await?;
 
-    let command_response = client
-        .new_command(CommandDefinitionRequest {
+    let cmd_handler = CommandHandler::new(
+        cancellation_token,
+        &mut client,
+        CommandDefinitionRequest {
             name: "simple_command/a".to_string(),
             parameters: vec![
                 CommandParameterDefinition {
@@ -37,28 +107,35 @@ async fn main() -> Result<(), Box<dyn Error>> {
                     data_type: TelemetryDataType::Boolean.into(),
                 },
             ],
-        })
-        .await?;
-    let mut command_stream = command_response.into_inner();
+        },
+        |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");
+            };
 
-    loop {
-        select! {
-            _ = cancellation_token.cancelled() => {
-                break;
-            },
-            Some(command) = command_stream.next() => {
-                let command = command?;
+            println!("Command Received:\n  timestamp: {timestamp}\n  a: {a}\n  b: {b}\n  c: {c}");
 
-                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"); };
+            CommandResponse {
+                uuid: command.uuid.clone(),
+                success: true,
+                response: format!(
+                    "Successfully Received Command! timestamp: {timestamp} a: {a} b: {b} c: {c}"
+                ),
+            }
+        },
+    )
+    .await?;
 
-                println!("Command Received:\n  timestamp: {timestamp}\n  a: {a}\n  b: {b}\n  c: {c}");
-            },
-        }
-    }
+    cmd_handler.join().await?;
 
     Ok(())
 }

server/proto/core.proto

@@ -60,10 +60,24 @@ message CommandDefinitionRequest {
 }
 
 message Command {
-    Timestamp timestamp = 1;
-    map<string, TelemetryValue> parameters = 2;
+    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 (CommandDefinitionRequest) returns (stream Command);
+    rpc NewCommand (stream ClientSideCommand) returns (stream Command);
 }

server/src/command/error.rs

@@ -20,6 +20,10 @@ pub enum Error {
     NoCommandReceiver,
     #[error("Failed to Send")]
     FailedToSend,
+    #[error("Failed to Receive Command Response")]
+    FailedToReceiveResponse,
+    #[error("Command Failure: {0}")]
+    CommandFailure(String),
 }
 
 impl ResponseError for Error {
@@ -31,6 +35,8 @@ impl ResponseError for Error {
             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/service.rs

@@ -1,25 +1,26 @@
 use crate::command::definition::CommandDefinition;
 use crate::command::error::Error as CmdError;
 use crate::command::error::Error::{
-    CommandNotFound, FailedToSend, IncorrectParameterCount, MisingParameter, NoCommandReceiver,
-    WrongParameterType,
+    CommandFailure, CommandNotFound, FailedToReceiveResponse, FailedToSend,
+    IncorrectParameterCount, MisingParameter, NoCommandReceiver, WrongParameterType,
 };
 use crate::core::telemetry_value::Value;
 use crate::core::{
-    Command, CommandDefinitionRequest, TelemetryDataType, TelemetryValue, Timestamp,
+    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::mpsc::{Receiver, Sender};
+use tokio::sync::oneshot;
 
 #[derive(Clone)]
 pub(super) struct RegisteredCommand {
     pub(super) name: String,
     pub(super) definition: CommandDefinitionRequest,
-    tx: Sender<Option<Command>>,
+    tx: mpsc::Sender<Option<(Command, oneshot::Sender<CommandResponse>)>>,
 }
 
 pub struct CommandManagementService {
@@ -54,7 +55,7 @@ impl CommandManagementService {
     pub async fn register_command(
         &self,
         command: CommandDefinitionRequest,
-    ) -> anyhow::Result<Receiver<Option<Command>>> {
+    ) -> anyhow::Result<mpsc::Receiver<Option<(Command, oneshot::Sender<CommandResponse>)>>> {
         let (tx, rx) = mpsc::channel(1);
 
         let registered_commands = self.registered_commands.pin_owned();
@@ -77,7 +78,7 @@ impl CommandManagementService {
         &self,
         name: impl Into<String>,
         parameters: serde_json::Map<String, serde_json::Value>,
-    ) -> Result<(), CmdError> {
+    ) -> Result<String, CmdError> {
         let timestamp = Utc::now();
         let offset_from_unix_epoch =
             timestamp - DateTime::from_timestamp(0, 0).expect("Could not get Unix epoch");
@@ -127,20 +128,38 @@ impl CommandManagementService {
             return Err(NoCommandReceiver);
         }
 
+        let uuid = Uuid::random();
+        let (response_tx, response_rx) = oneshot::channel();
         if let Err(e) = tx
-            .send(Some(Command {
-                timestamp: Some(Timestamp {
-                    secs: offset_from_unix_epoch.num_seconds(),
-                    nanos: offset_from_unix_epoch.subsec_nanos(),
-                }),
-                parameters: result_parameters,
-            }))
+            .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);
         }
 
-        Ok(())
+        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

@@ -1,15 +1,18 @@
 use crate::command::service::CommandManagementService;
+use crate::core::client_side_command::Inner;
 use crate::core::command_service_server::CommandService;
-use crate::core::{Command, CommandDefinitionRequest};
+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;
-use tonic::{Request, Response, Status};
+use tonic::codegen::tokio_stream::{Stream, StreamExt};
+use tonic::{Request, Response, Status, Streaming};
 
 pub struct CoreCommandService {
     pub command_service: Arc<CommandManagementService>,
@@ -22,16 +25,33 @@ impl CommandService for CoreCommandService {
 
     async fn new_command(
         &self,
-        request: Request<CommandDefinitionRequest>,
+        request: Request<Streaming<ClientSideCommand>>,
     ) -> Result<Response<Self::NewCommandStream>, Status> {
         trace!("CoreCommandService::new_command");
 
         let cancel_token = self.cancellation_token.clone();
-        let mut cmd_rx = match self
-            .command_service
-            .register_command(request.into_inner())
-            .await
-        {
+        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}");
@@ -42,6 +62,8 @@ impl CommandService for CoreCommandService {
         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,
@@ -50,32 +72,77 @@ impl CommandService for CoreCommandService {
                         match message {
                             None => break,
                             Some(message) => {
-                                match tx.send(Ok(message)).await {
+                                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(Status::resource_exhausted("End of Command Stream")))
-                    .await
-                {
+                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/http/api/cmd.rs

@@ -9,11 +9,11 @@ pub(super) async fn send_command(
     name: web::Path<String>,
     parameters: web::Json<serde_json::Map<String, serde_json::Value>>,
 ) -> Result<impl Responder, HttpServerResultError> {
-    command_service
+    let result = command_service
         .send_command(name.to_string(), parameters.into_inner())
         .await?;
 
-    Ok(web::Json("Command Sent Successfully."))
+    Ok(web::Json(result))
 }
 
 #[get("/cmd")]