From 612906031995c428cf99a67f67574afdc3424459 Mon Sep 17 00:00:00 2001 From: Joey Hines Date: Sat, 22 Jun 2024 19:25:11 -0600 Subject: [PATCH] Added GRPC interface + Handles full throughput from GRPC API to robot and back + Added in-band error responses --- .gitignore | 1 + Cargo.lock | 922 +++++++++++++++++++++++++++++++++-- Cargo.toml | 11 +- src/config.rs | 25 + src/main.rs | 80 ++- src/robot/mod.rs | 4 +- src/robot/robot_connector.rs | 2 +- src/robot/robot_manager.rs | 63 ++- src/server/grpc.rs | 47 ++ src/server/mod.rs | 1 + 10 files changed, 1066 insertions(+), 90 deletions(-) create mode 100644 src/config.rs create mode 100644 src/server/grpc.rs create mode 100644 src/server/mod.rs diff --git a/.gitignore b/.gitignore index c403c34..28dc62f 100644 --- a/.gitignore +++ b/.gitignore @@ -1,2 +1,3 @@ /target .idea/ +config.toml \ No newline at end of file diff --git a/Cargo.lock b/Cargo.lock index 6a42940..ab9366a 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -26,6 +26,15 @@ dependencies = [ "memchr", ] +[[package]] +name = "ansi_term" +version = "0.12.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d52a9bb7ec0cf484c551830a7ce27bd20d67eac647e1befb56b0be4ee39a55d2" +dependencies = [ + "winapi", +] + [[package]] name = "anstream" version = "0.6.14" @@ -81,6 +90,28 @@ version = "1.0.86" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "b3d1d046238990b9cf5bcde22a3fb3584ee5cf65fb2765f454ed428c7a0063da" +[[package]] +name = "async-stream" +version = "0.3.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "cd56dd203fef61ac097dd65721a419ddccb106b2d2b70ba60a6b529f03961a51" +dependencies = [ + "async-stream-impl", + "futures-core", + "pin-project-lite", +] + +[[package]] +name = "async-stream-impl" +version = "0.3.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "16e62a023e7c117e27523144c5d2459f4397fcc3cab0085af8e2224f643a0193" +dependencies = [ + "proc-macro2", + "quote", + "syn 2.0.66", +] + [[package]] name = "async-trait" version = "0.1.80" @@ -89,7 +120,52 @@ checksum = "c6fa2087f2753a7da8cc1c0dbfcf89579dd57458e36769de5ac750b4671737ca" dependencies = [ "proc-macro2", "quote", - "syn", + "syn 2.0.66", +] + +[[package]] +name = "atty" +version = "0.2.14" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d9b39be18770d11421cdb1b9947a45dd3f37e93092cbf377614828a319d5fee8" +dependencies = [ + "hermit-abi 0.1.19", + "libc", + "winapi", +] + +[[package]] +name = "autocfg" +version = "1.3.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0c4b4d0bd25bd0b74681c0ad21497610ce1b7c91b1022cd21c80c6fbdd9476b0" + +[[package]] +name = "axum" +version = "0.6.20" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "3b829e4e32b91e643de6eafe82b1d90675f5874230191a4ffbc1b336dec4d6bf" +dependencies = [ + "async-trait", + "axum-core 0.3.4", + "bitflags 1.3.2", + "bytes", + "futures-util", + "http 0.2.12", + "http-body 0.4.6", + "hyper 0.14.29", + "itoa", + "matchit", + "memchr", + "mime", + "percent-encoding", + "pin-project-lite", + "rustversion", + "serde", + "sync_wrapper 0.1.2", + "tower", + "tower-layer", + "tower-service", ] [[package]] @@ -99,13 +175,13 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "3a6c9af12842a67734c9a2e355436e5d03b22383ed60cf13cd0c18fbfe3dcbcf" dependencies = [ "async-trait", - "axum-core", + "axum-core 0.4.3", "bytes", "futures-util", - "http", - "http-body", + "http 1.1.0", + "http-body 1.0.0", "http-body-util", - "hyper", + "hyper 1.3.1", "hyper-util", "itoa", "matchit", @@ -126,6 +202,23 @@ dependencies = [ "tracing", ] +[[package]] +name = "axum-core" +version = "0.3.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "759fa577a247914fd3f7f76d62972792636412fbfd634cd452f6a385a74d2d2c" +dependencies = [ + "async-trait", + "bytes", + "futures-util", + "http 0.2.12", + "http-body 0.4.6", + "mime", + "rustversion", + "tower-layer", + "tower-service", +] + [[package]] name = "axum-core" version = "0.4.3" @@ -135,8 +228,8 @@ dependencies = [ "async-trait", "bytes", "futures-util", - "http", - "http-body", + "http 1.1.0", + "http-body 1.0.0", "http-body-util", "mime", "pin-project-lite", @@ -162,11 +255,35 @@ dependencies = [ "rustc-demangle", ] +[[package]] +name = "base64" +version = "0.21.7" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "9d297deb1925b89f2ccc13d7635fa0714f12c87adce1c75356b39ca9b7178567" + +[[package]] +name = "bitflags" +version = "1.3.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a" + [[package]] name = "bitflags" version = "2.5.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "cf4b9d6a944f767f8e5e0db018570623c85f3d925ac718db4e06d0187adb21c1" +dependencies = [ 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@@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "b4c5cc86750666a3ed20bdaf5ca2a0344f9c67674cae0515bec2da16fbaa47db" dependencies = [ "fixedbitset", - "indexmap", + "indexmap 2.2.6", ] [[package]] @@ -558,7 +1027,7 @@ checksum = "2f38a4412a78282e09a2cf38d195ea5420d15ba0602cb375210efbc877243965" dependencies = [ "proc-macro2", "quote", - "syn", + "syn 2.0.66", ] [[package]] @@ -573,6 +1042,12 @@ version = "0.1.0" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "8b870d8c151b6f2fb93e84a13146138f05d02ed11c7e7c54f8826aaaf7c9f184" +[[package]] +name = "ppv-lite86" +version = "0.2.17" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "5b40af805b3121feab8a3c29f04d8ad262fa8e0561883e7653e024ae4479e6de" + [[package]] name = "prettyplease" version = "0.2.20" @@ -580,7 +1055,31 @@ source = "registry+https://github.com/rust-lang/crates.io-index" checksum = 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@@ dependencies = [ "prost", "prost-types", "regex", - "syn", + "syn 2.0.66", "tempfile", ] @@ -633,7 +1132,7 @@ dependencies = [ "itertools", "proc-macro2", "quote", - "syn", + "syn 2.0.66", ] [[package]] @@ -658,25 +1157,61 @@ dependencies = [ name = "raas" version = "0.1.0" dependencies = [ - "axum", + "axum 0.7.5", + "config", "env_logger", "log", "prost", "raas_types", + "serde", + "structopt", "thiserror", "tokio", + "tonic", + "tonic-build", ] [[package]] name = "raas_types" -version = "0.0.5" +version = "0.0.9" source = "registry+https://git.jojodev.com/joeyahines/_cargo-index.git" -checksum = "7d0a6f7cba2fbba29bee36deb3880dcb3a5022e898a2f71a7a4e377f816aced1" +checksum = "c88a524341fb166750c86cd97e0b225d472cc4e243943a30b6488c7a44c3d18e" dependencies = [ "bytes", "prost", - "prost-build", "tokio", + "tonic", + "tonic-build", +] + +[[package]] +name = "rand" +version = "0.8.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = 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+version = "0.6.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "79e674e01f999af37c49f70a6ede167a8a60b2503e56c5599532a65baa5969a0" +dependencies = [ + "serde", +] + [[package]] name = "serde_urlencoded" version = "0.7.1" @@ -792,6 +1358,26 @@ dependencies = [ "serde", ] +[[package]] +name = "sha2" +version = "0.10.8" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "793db75ad2bcafc3ffa7c68b215fee268f537982cd901d132f89c6343f3a3dc8" +dependencies = [ + "cfg-if", + "cpufeatures", + "digest", +] + +[[package]] +name = "slab" +version = "0.4.9" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "8f92a496fb766b417c996b9c5e57daf2f7ad3b0bebe1ccfca4856390e3d3bb67" +dependencies = [ + "autocfg", +] + [[package]] name = "smallvec" version = "1.13.2" @@ -808,6 +1394,47 @@ dependencies = [ "windows-sys 0.52.0", ] +[[package]] +name = "strsim" +version = "0.8.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "8ea5119cdb4c55b55d432abb513a0429384878c15dde60cc77b1c99de1a95a6a" + +[[package]] +name = "structopt" +version = "0.3.26" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "0c6b5c64445ba8094a6ab0c3cd2ad323e07171012d9c98b0b15651daf1787a10" +dependencies = [ + "clap", + "lazy_static", + "structopt-derive", +] + +[[package]] +name = "structopt-derive" +version = "0.4.18" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "dcb5ae327f9cc13b68763b5749770cb9e048a99bd9dfdfa58d0cf05d5f64afe0" +dependencies = [ + "heck 0.3.3", + "proc-macro-error", + "proc-macro2", + "quote", + "syn 1.0.109", +] + +[[package]] +name = "syn" +version = "1.0.109" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "72b64191b275b66ffe2469e8af2c1cfe3bafa67b529ead792a6d0160888b4237" +dependencies = [ + "proc-macro2", + "quote", + "unicode-ident", +] + [[package]] name = "syn" version = "2.0.66" @@ -843,6 +1470,15 @@ dependencies = [ "windows-sys 0.52.0", ] +[[package]] +name = "textwrap" +version = "0.11.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "d326610f408c7a4eb6f51c37c330e496b08506c9457c9d34287ecc38809fb060" +dependencies = [ + "unicode-width", +] + [[package]] name = "thiserror" version = "1.0.61" @@ -860,7 +1496,16 @@ checksum = "46c3384250002a6d5af4d114f2845d37b57521033f30d5c3f46c4d70e1197533" dependencies = [ "proc-macro2", "quote", - "syn", + "syn 2.0.66", +] + +[[package]] +name = "tiny-keccak" +version = "2.0.2" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "2c9d3793400a45f954c52e73d068316d76b6f4e36977e3fcebb13a2721e80237" +dependencies = [ + "crunchy", ] [[package]] @@ -880,6 +1525,16 @@ dependencies = [ "windows-sys 0.48.0", ] +[[package]] +name = "tokio-io-timeout" +version = "1.2.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = 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"async-trait", + "axum 0.6.20", + "base64", + "bytes", + "h2", + "http 0.2.12", + "http-body 0.4.6", + "hyper 0.14.29", + "hyper-timeout", + "percent-encoding", + "pin-project", + "prost", + "tokio", + "tokio-stream", + "tower", + "tower-layer", + "tower-service", + "tracing", +] + +[[package]] +name = "tonic-build" +version = "0.11.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "be4ef6dd70a610078cb4e338a0f79d06bc759ff1b22d2120c2ff02ae264ba9c2" +dependencies = [ + "prettyplease", + "proc-macro2", + "prost-build", + "quote", + "syn 2.0.66", ] [[package]] @@ -899,9 +1652,13 @@ checksum = "b8fa9be0de6cf49e536ce1851f987bd21a43b771b09473c3549a6c853db37c1c" dependencies = [ "futures-core", "futures-util", + "indexmap 1.9.3", "pin-project", "pin-project-lite", + "rand", + "slab", "tokio", + "tokio-util", "tower-layer", "tower-service", "tracing", @@ -927,9 +1684,21 @@ checksum = "c3523ab5a71916ccf420eebdf5521fcef02141234bbc0b8a49f2fdc4544364ef" dependencies = [ "log", "pin-project-lite", + "tracing-attributes", "tracing-core", ] +[[package]] +name = "tracing-attributes" +version = "0.1.27" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "34704c8d6ebcbc939824180af020566b01a7c01f80641264eba0999f6c2b6be7" +dependencies = [ + "proc-macro2", + "quote", + "syn 2.0.66", +] + [[package]] name = "tracing-core" version = "0.1.32" @@ -939,24 +1708,97 @@ dependencies = [ "once_cell", ] +[[package]] +name = "try-lock" +version = "0.2.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "e421abadd41a4225275504ea4d6566923418b7f05506fbc9c0fe86ba7396114b" + +[[package]] +name = "typenum" +version = "1.17.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "42ff0bf0c66b8238c6f3b578df37d0b7848e55df8577b3f74f92a69acceeb825" + +[[package]] +name = "ucd-trie" +version = "0.1.6" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = 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"f1bddf1187be692e79c5ffeab891132dfb0f236ed36a43c7ed39f1165ee20191" + +[[package]] +name = "version_check" +version = "0.9.4" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "49874b5167b65d7193b8aba1567f5c7d93d001cafc34600cee003eda787e483f" + +[[package]] +name = "want" +version = "0.3.1" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "bfa7760aed19e106de2c7c0b581b509f2f25d3dacaf737cb82ac61bc6d760b0e" +dependencies = [ + "try-lock", +] + [[package]] name = "wasi" version = "0.11.0+wasi-snapshot-preview1" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "9c8d87e72b64a3b4db28d11ce29237c246188f4f51057d65a7eab63b7987e423" +[[package]] +name = "winapi" +version = "0.3.9" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "5c839a674fcd7a98952e593242ea400abe93992746761e38641405d28b00f419" +dependencies = [ + "winapi-i686-pc-windows-gnu", + "winapi-x86_64-pc-windows-gnu", +] + +[[package]] +name = "winapi-i686-pc-windows-gnu" +version = "0.4.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "ac3b87c63620426dd9b991e5ce0329eff545bccbbb34f3be09ff6fb6ab51b7b6" + +[[package]] +name = "winapi-x86_64-pc-windows-gnu" +version = "0.4.0" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "712e227841d057c1ee1cd2fb22fa7e5a5461ae8e48fa2ca79ec42cfc1931183f" + [[package]] name = "windows-sys" version = "0.48.0" @@ -1095,3 +1937,21 @@ name = "windows_x86_64_msvc" version = "0.52.5" source = "registry+https://github.com/rust-lang/crates.io-index" checksum = "bec47e5bfd1bff0eeaf6d8b485cc1074891a197ab4225d504cb7a1ab88b02bf0" + +[[package]] +name = "winnow" +version = "0.6.13" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "59b5e5f6c299a3c7890b876a2a587f3115162487e704907d9b6cd29473052ba1" +dependencies = [ + "memchr", +] + +[[package]] +name = "yaml-rust" +version = "0.4.5" +source = "registry+https://github.com/rust-lang/crates.io-index" +checksum = "56c1936c4cc7a1c9ab21a1ebb602eb942ba868cbd44a99cb7cdc5892335e1c85" +dependencies = [ + "linked-hash-map", +] diff --git a/Cargo.toml b/Cargo.toml index 627acbf..02bb7bd 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -6,10 +6,17 @@ edition = "2021" # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html [dependencies] -raas_types = { version = "0.0.5", features = ["async"], registry = "jojo-dev"} +raas_types = { version = "0.0.9", features = ["async"], registry = "jojo-dev"} prost = "0.12.6" tokio = {version = "1.38.0", features = ["io-util", "net", "rt-multi-thread"]} axum = "0.7.5" env_logger = "0.11.3" log = "0.4.21" -thiserror = "1.0.61" \ No newline at end of file +thiserror = "1.0.61" +tonic = "0.11.0" +config = "0.14.0" +serde = "1.0.203" +structopt = "0.3.26" + +[build-dependencies] +tonic-build = "0.11.0" \ No newline at end of file diff --git a/src/config.rs b/src/config.rs new file mode 100644 index 0000000..da920bb --- /dev/null +++ b/src/config.rs @@ -0,0 +1,25 @@ +use config::{Config, File}; +use serde::Deserialize; +use std::path::{Path, PathBuf}; +use structopt::StructOpt; + +#[derive(Debug, StructOpt)] +pub struct Args { + pub cfg_path: PathBuf, +} + +#[derive(Debug, Clone, Deserialize)] +pub struct RaasConfig { + pub grpc_server: String, + pub robot_server: String, +} + +impl RaasConfig { + pub fn new(config_path: &Path) -> Result { + let cfg = Config::builder() + .add_source(File::from(config_path)) + .build()?; + + cfg.try_deserialize() + } +} diff --git a/src/main.rs b/src/main.rs index 6d58699..aa9d526 100644 --- a/src/main.rs +++ b/src/main.rs @@ -1,26 +1,37 @@ +use crate::config::{Args, RaasConfig}; use crate::robot::connection_handler::ConnectionHandler; use crate::robot::robot_manager::RobotManager; -use crate::robot::ConnectorManager; +use crate::robot::{ConnectorManager, ROBOT_MESSAGE_QUEUE_SIZE}; use log::{error, info}; -use prost::Message; -use raas_types::raas; -use raas_types::raas::cmd::Request; -use raas_types::raas::ping::Ping; -use raas_types::raas::{recv_raas_msg, send_raas_msg}; +use raas_types::raas::service::raas_server::RaasServer; +use server::grpc::RaaSServer; use std::sync::Arc; -use std::time::Duration; +use structopt::StructOpt; use tokio::io::duplex; use tokio::net::TcpListener; use tokio::sync::Mutex; +use tonic::transport::Server; +mod config; mod robot; +mod server; #[tokio::main] async fn main() { env_logger::init(); info!("Starting..."); - let addr = "0.0.0.0:8080"; + let args = Args::from_args(); + + let config = RaasConfig::new(&args.cfg_path); + + let config = match config { + Ok(c) => c, + Err(err) => { + error!("Error loading config: {}", err); + return; + } + }; let connector_manager = ConnectorManager { next_id: 0, @@ -29,55 +40,22 @@ async fn main() { let connector_manager = Arc::new(Mutex::new(connector_manager)); - let tcp_listener = TcpListener::bind(addr).await.unwrap(); + let tcp_listener = TcpListener::bind(&config.robot_server).await.unwrap(); - let (mut main_stream, manager_stream) = duplex(10); + let (main_stream, manager_stream) = duplex(ROBOT_MESSAGE_QUEUE_SIZE); let robot_manager = RobotManager::new(manager_stream); - let connector_handler = ConnectionHandler::new(addr, tcp_listener); + let connector_handler = ConnectionHandler::new(&config.robot_server, tcp_listener); let robot_manager_connector_manager = connector_manager.clone(); tokio::task::spawn(robot_manager.worker(robot_manager_connector_manager)); tokio::task::spawn(connector_handler.worker(connector_manager)); - loop { - info!("Sleeping"); - tokio::time::sleep(Duration::from_secs(5)).await; - info!("Sending Ping"); - - let ping = Ping { - data: "ping msg".to_string(), - }; - - let req = Request { - timestamp: 0, - cmd: Some(raas::cmd::request::Cmd::RollCmd(raas::bot::roll::RollCmd { - cmd: Some(raas::bot::roll::roll_cmd::Cmd::Ping(ping)), - })), - }; - - let mut msg = Vec::new(); - - req.encode(&mut msg).unwrap(); - - send_raas_msg(&mut main_stream, msg).await.unwrap(); - - info!("Wait for resp"); - let ret = - tokio::time::timeout(Duration::from_secs(5), recv_raas_msg(&mut main_stream)).await; - - match ret { - Ok(resp) => match resp { - Ok(resp) => { - info!("Got response {:?}", resp); - } - Err(err) => { - error!("Error getting response: {}", err) - } - }, - Err(_) => { - error!("Timed out waiting for response!") - } - } - } + info!("Serving grpc at {}", &config.grpc_server); + let raas_server = RaaSServer::new(main_stream); + Server::builder() + .add_service(RaasServer::new(raas_server)) + .serve(config.grpc_server.parse().unwrap()) + .await + .unwrap() } diff --git a/src/robot/mod.rs b/src/robot/mod.rs index d0c90ce..70c88a9 100644 --- a/src/robot/mod.rs +++ b/src/robot/mod.rs @@ -29,6 +29,8 @@ pub enum Error { ProtobufEncode(#[from] prost::EncodeError), #[error("Protobuf Decode Error")] ProtobufDecode(#[from] prost::DecodeError), - #[error("Connection to bot has been closed")] + #[error("Connection to robot has been closed")] ConnectionClosed(u32), + #[error("No robots to handle requests")] + NoRobotsToHandleRequest, } diff --git a/src/robot/robot_connector.rs b/src/robot/robot_connector.rs index 7f0dd7d..d7ee8d1 100644 --- a/src/robot/robot_connector.rs +++ b/src/robot/robot_connector.rs @@ -61,7 +61,7 @@ impl RobotConnector { let recv = recv_raas_msg(&mut self.tcp_stream).await?; let resp = Response::decode(recv.msg.as_slice()).unwrap(); - info!("Worker (bot_id={}) got resp: {:?}", self.bot_id, resp); + info!("Worker (bot_id={}) got resp", self.bot_id); Ok(resp) } diff --git a/src/robot/robot_manager.rs b/src/robot/robot_manager.rs index 24371ab..f72b893 100644 --- a/src/robot/robot_manager.rs +++ b/src/robot/robot_manager.rs @@ -33,6 +33,30 @@ impl RobotManager { Ok(()) } + async fn send_error( + &mut self, + id: u32, + error: raas::error::ErrorType, + err_msg: &str, + ) -> Result<(), Error> { + let resp = raas::resp::Response { + id, + timestamp: 0, + resp: Some(raas::resp::response::Resp::Error(raas::error::Error { + err: error.into(), + msg: err_msg.to_string(), + })), + }; + + let mut msg = Vec::new(); + + resp.encode(&mut msg)?; + + self.send_resp(RaasMessage::new(msg)).await?; + + Ok(()) + } + async fn handle_command( &mut self, connector_manager: Arc>, @@ -64,6 +88,7 @@ impl RobotManager { "Got '{}' sending message to Robot Connector id={}, closing connection", err, id ); + return Err(Error::ConnectionClosed(*id)); } @@ -72,6 +97,7 @@ impl RobotManager { self.send_resp(resp).await?; } else { error!("No connectors available to handle request"); + return Err(Error::NoRobotsToHandleRequest); } Ok(()) @@ -87,11 +113,40 @@ impl RobotManager { if let Err(err) = res { error!("Got error in robot manager: {}", err); - if let Error::ConnectionClosed(id) = err { - let mut connection_manager = connector_manager.lock().await; + let (id, error, error_msg) = match err { + Error::ConnectionClosed(id) => { + let mut connection_manager = connector_manager.lock().await; - connection_manager.connectors.remove(&id); - } + connection_manager.connectors.remove(&id); + ( + id, + raas::error::ErrorType::RobotOffline, + "Robot offline.".to_string(), + ) + } + Error::Io(err) => ( + 0, + raas::error::ErrorType::RobotError, + format!("IO Error: {}", err), + ), + Error::ProtobufEncode(err) => ( + 0, + raas::error::ErrorType::RobotError, + format!("Encode Error: {}", err), + ), + Error::ProtobufDecode(err) => ( + 0, + raas::error::ErrorType::RobotError, + format!("Decode Error: {}", err), + ), + Error::NoRobotsToHandleRequest => ( + 0, + raas::error::ErrorType::NoRobotsToHandleRequest, + "No robots to handle request".to_string(), + ), + }; + + self.send_error(id, error, error_msg.as_str()).await?; } } } diff --git a/src/server/grpc.rs b/src/server/grpc.rs new file mode 100644 index 0000000..eb0d12a --- /dev/null +++ b/src/server/grpc.rs @@ -0,0 +1,47 @@ +use log::info; +use prost::Message; +use raas_types::raas::service::raas_server::Raas; +use raas_types::raas::{recv_raas_msg, send_raas_msg}; +use std::ops::DerefMut; +use tokio::io::DuplexStream; +use tonic::{Request, Response, Status}; + +pub struct RaaSServer { + command_stream: tokio::sync::Mutex, +} + +impl RaaSServer { + pub fn new(command_stream: DuplexStream) -> Self { + Self { + command_stream: tokio::sync::Mutex::new(command_stream), + } + } +} + +#[tonic::async_trait] +impl Raas for RaaSServer { + async fn send_request( + &self, + request: Request, + ) -> Result, Status> { + let mut command_stream = self.command_stream.lock().await; + + let remote_addr = request.remote_addr().unwrap(); + let request = request.into_inner(); + info!("Got request from {}: {:?}", remote_addr, request); + + let mut msg = Vec::new(); + + request.encode(&mut msg).unwrap(); + + send_raas_msg(command_stream.deref_mut(), msg) + .await + .unwrap(); + + let resp = recv_raas_msg(command_stream.deref_mut()).await.unwrap(); + + let resp = raas_types::raas::resp::Response::decode(&*resp.msg).unwrap(); + + Ok(Response::new(resp)) + } +} diff --git a/src/server/mod.rs b/src/server/mod.rs new file mode 100644 index 0000000..773d491 --- /dev/null +++ b/src/server/mod.rs @@ -0,0 +1 @@ +pub mod grpc;