Added GRPC interface

+ Handles full throughput from GRPC API to robot and back
+ Added in-band error responses

.gitignore

@@ -1,2 +1,3 @@
 /target
 .idea/
+config.toml

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"
+tonic = "0.11.0"
+config = "0.14.0"
+serde = "1.0.203"
+structopt = "0.3.26"
+
+[build-dependencies]
+tonic-build = "0.11.0"

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<Self, config::ConfigError> {
+        let cfg = Config::builder()
+            .add_source(File::from(config_path))
+            .build()?;
+
+        cfg.try_deserialize()
+    }
+}

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::service::raas_server::RaasServer;
-use raas_types::raas;
+use server::grpc::RaaSServer;
-use raas_types::raas::cmd::Request;
-use raas_types::raas::ping::Ping;
-use raas_types::raas::{recv_raas_msg, send_raas_msg};
 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!("Serving grpc at {}", &config.grpc_server);
-        info!("Sleeping");
+    let raas_server = RaaSServer::new(main_stream);
-        tokio::time::sleep(Duration::from_secs(5)).await;
+    Server::builder()
-        info!("Sending Ping");
+        .add_service(RaasServer::new(raas_server))
-
+        .serve(config.grpc_server.parse().unwrap())
-        let ping = Ping {
+        .await
-            data: "ping msg".to_string(),
+        .unwrap()
-        };
-
-        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!")
-            }
-        }
-    }
 }

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,
 }

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)
     }

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<Mutex<ConnectorManager>>,
@@ -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 (id, error, error_msg) = match err {
+                    Error::ConnectionClosed(id) => {
                         let mut connection_manager = connector_manager.lock().await;
 
                         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?;
             }
         }
     }

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<DuplexStream>,
+}
+
+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<raas_types::raas::cmd::Request>,
+    ) -> Result<Response<raas_types::raas::resp::Response>, 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))
+    }
+}

src/server/mod.rs

@@ -0,0 +1 @@
+pub mod grpc;