Task 9: tines-ros2 — pure topic_name escaping (default, tested) + optional rclrs TinesNode (feature ros2)
Adds the ninth fleet-deployment crate. Default build is ROS2-free: topic_name hex-escapes arbitrary tines topics into valid ROS2 names under /tines/ (deterministic, injective) and wires Node<LogStore, BtTransport>. The rclrs-backed self-contained TinesNode lives under #[cfg(feature="ros2")] with an off-by-default ros2 feature, so the crate builds/tests without a ROS2 toolchain. Adds scripts/check-ros2.sh (needs a ROS2 toolchain; not run in CI), registers the crate in workspace members, and passes sh scripts/ci.sh.
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|
||||
checksum = "f6b464fbc74e149a392436b17d523f769e057cb6877f6a5c4618bc6f11800548"
|
||||
|
||||
[[package]]
|
||||
name = "polling"
|
||||
version = "3.11.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "5d0e4f59085d47d8241c88ead0f274e8a0cb551f3625263c05eb8dd897c34218"
|
||||
dependencies = [
|
||||
"cfg-if",
|
||||
"concurrent-queue",
|
||||
"hermit-abi",
|
||||
"pin-project-lite",
|
||||
"rustix",
|
||||
"windows-sys",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "postcard"
|
||||
version = "1.1.3"
|
||||
@@ -832,12 +1152,54 @@ dependencies = [
|
||||
"rand_core 0.10.1",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rclrs"
|
||||
version = "0.8.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "445cc875d7c153a96d865eadc0550d6d2aca6ba58ff9cc677b49b4dc0e08ec1f"
|
||||
dependencies = [
|
||||
"ament_rs",
|
||||
"async-std",
|
||||
"async-stream",
|
||||
"cfg-if",
|
||||
"futures",
|
||||
"futures-lite",
|
||||
"libloading",
|
||||
"ros-env",
|
||||
"rosidl_runtime_rs",
|
||||
"rustflags",
|
||||
"tokio",
|
||||
"tokio-stream",
|
||||
"uuid",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "regex-syntax"
|
||||
version = "0.8.11"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "d6f6ff9a378485b298a5286656da665ba74413d36db0979633275d2e708145d4"
|
||||
|
||||
[[package]]
|
||||
name = "ros-env"
|
||||
version = "0.3.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "9fc92ef7752ec4d0733b0a403cb41babc3f60e78b65d47e9e5f811b32101df4d"
|
||||
dependencies = [
|
||||
"ament_rs",
|
||||
"cargo_toml",
|
||||
"rosidl_runtime_rs",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rosidl_runtime_rs"
|
||||
version = "0.7.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "76f1c3a806380f367275768d7fcd71a19d74af71183e304ca96264043399a544"
|
||||
dependencies = [
|
||||
"cfg-if",
|
||||
"rustflags",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rustc_version"
|
||||
version = "0.4.1"
|
||||
@@ -847,6 +1209,12 @@ dependencies = [
|
||||
"semver",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rustflags"
|
||||
version = "0.1.7"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "a39e0e9135d7a7208ee80aa4e3e4b88f0f5ad7be92153ed70686c38a03db2e63"
|
||||
|
||||
[[package]]
|
||||
name = "rustix"
|
||||
version = "1.1.5"
|
||||
@@ -878,6 +1246,15 @@ dependencies = [
|
||||
"wait-timeout",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "same-file"
|
||||
version = "1.0.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "93fc1dc3aaa9bfed95e02e6eadabb4baf7e3078b0bd1b4d7b6b0b68378900502"
|
||||
dependencies = [
|
||||
"winapi-util",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "scopeguard"
|
||||
version = "1.2.0"
|
||||
@@ -933,6 +1310,15 @@ dependencies = [
|
||||
"zmij",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "serde_spanned"
|
||||
version = "1.1.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "4e7523beb55eece201a2356bee0bbca0d1ab466c14c07703b2e0ee6d42cb0c2c"
|
||||
dependencies = [
|
||||
"serde_core",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "signal-hook-registry"
|
||||
version = "1.4.8"
|
||||
@@ -1095,6 +1481,16 @@ dependencies = [
|
||||
"serde",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "tines-ros2"
|
||||
version = "0.3.0"
|
||||
dependencies = [
|
||||
"rclrs",
|
||||
"tines-bt",
|
||||
"tines-core",
|
||||
"tines-store",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "tines-sim"
|
||||
version = "0.3.0"
|
||||
@@ -1151,6 +1547,30 @@ dependencies = [
|
||||
"tokio",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "toml"
|
||||
version = "0.9.12+spec-1.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "cf92845e79fc2e2def6a5d828f0801e29a2f8acc037becc5ab08595c7d5e9863"
|
||||
dependencies = [
|
||||
"indexmap",
|
||||
"serde_core",
|
||||
"serde_spanned",
|
||||
"toml_datetime 0.7.5+spec-1.1.0",
|
||||
"toml_parser",
|
||||
"toml_writer",
|
||||
"winnow 0.7.15",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "toml_datetime"
|
||||
version = "0.7.5+spec-1.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "92e1cfed4a3038bc5a127e35a2d360f145e1f4b971b551a2ba5fd7aedf7e1347"
|
||||
dependencies = [
|
||||
"serde_core",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "toml_datetime"
|
||||
version = "1.1.2+spec-1.1.0"
|
||||
@@ -1167,9 +1587,9 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "e3641d5bbb5349a79e1020a242d251efbc546ad8048d133958323ce9c40a9c9c"
|
||||
dependencies = [
|
||||
"indexmap",
|
||||
"toml_datetime",
|
||||
"toml_datetime 1.1.2+spec-1.1.0",
|
||||
"toml_parser",
|
||||
"winnow",
|
||||
"winnow 1.0.4",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
@@ -1178,9 +1598,15 @@ version = "1.1.5+spec-1.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "baa693a8032d7e1cada7d0041e96126df243179ff061456783ac7f12bda4744c"
|
||||
dependencies = [
|
||||
"winnow",
|
||||
"winnow 1.0.4",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "toml_writer"
|
||||
version = "1.1.3+spec-1.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "06bdbd8cfc056b8d2e2e85f29b56a3bdbecb527cef81eb39e3e7b98af4652770"
|
||||
|
||||
[[package]]
|
||||
name = "typenum"
|
||||
version = "1.20.1"
|
||||
@@ -1210,6 +1636,12 @@ dependencies = [
|
||||
"wasm-bindgen",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "value-bag"
|
||||
version = "1.14.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "2799ffb329a792ecfd902b71306c8a815a6ef1c0470fa9953a6aa4d4cecbe511"
|
||||
|
||||
[[package]]
|
||||
name = "version_check"
|
||||
version = "0.9.5"
|
||||
@@ -1225,6 +1657,16 @@ dependencies = [
|
||||
"libc",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "walkdir"
|
||||
version = "2.5.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "29790946404f91d9c5d06f9874efddea1dc06c5efe94541a7d6863108e3a5e4b"
|
||||
dependencies = [
|
||||
"same-file",
|
||||
"winapi-util",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "wasi"
|
||||
version = "0.11.1+wasi-snapshot-preview1"
|
||||
@@ -1244,6 +1686,17 @@ dependencies = [
|
||||
"wasm-bindgen-shared",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "wasm-bindgen-futures"
|
||||
version = "0.4.79"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3cbab34de2d982e9b48e18d216d04c4a6f641066ff19ffb699980f591ee3610e"
|
||||
dependencies = [
|
||||
"js-sys",
|
||||
"tokio",
|
||||
"wasm-bindgen",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "wasm-bindgen-macro"
|
||||
version = "0.2.129"
|
||||
@@ -1276,6 +1729,15 @@ dependencies = [
|
||||
"unicode-ident",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "winapi-util"
|
||||
version = "0.1.11"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "c2a7b1c03c876122aa43f3020e6c3c3ee5c05081c9a00739faf7503aeba10d22"
|
||||
dependencies = [
|
||||
"windows-sys",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "windows-link"
|
||||
version = "0.2.1"
|
||||
@@ -1291,6 +1753,12 @@ dependencies = [
|
||||
"windows-link",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "winnow"
|
||||
version = "0.7.15"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "df79d97927682d2fd8adb29682d1140b343be4ac0f08fd68b7765d9c059d3945"
|
||||
|
||||
[[package]]
|
||||
name = "winnow"
|
||||
version = "1.0.4"
|
||||
|
||||
+1
-1
@@ -1,5 +1,5 @@
|
||||
[workspace]
|
||||
members = ["tines-core", "tines-sim", "tines-store", "tines-bt"]
|
||||
members = ["tines-core", "tines-sim", "tines-store", "tines-bt", "tines-ros2"]
|
||||
resolver = "2"
|
||||
|
||||
[workspace.package]
|
||||
|
||||
Executable
+23
@@ -0,0 +1,23 @@
|
||||
#!/usr/bin/env bash
|
||||
#
|
||||
# Build the rclrs-backed ROS2 node for the `tines-ros2` crate.
|
||||
#
|
||||
# This compiles the `ros2` feature, which pulls in `rclrs` and its dependency
|
||||
# on the ROS2 C libraries. It therefore REQUIRES a ROS2 toolchain installed
|
||||
# (a sourced `colcon`/`/opt/ros/<distro>/setup.bash` and `rclrs` on the
|
||||
# registry); it is NOT run in CI.
|
||||
#
|
||||
# The default (ROS2-free) build and tests — including `topic_name` escaping —
|
||||
# are exercised in CI via `cargo test --workspace` and need no ROS2 toolchain.
|
||||
#
|
||||
# Usage:
|
||||
# source /opt/ros/<distro>/setup.bash # any ROS2 distro rclrs supports
|
||||
# ./scripts/check-ros2.sh
|
||||
set -euo pipefail
|
||||
|
||||
cd "$(dirname "$0")/.."
|
||||
|
||||
echo "Building tines-ros2 with the ros2 feature (requires a ROS2 toolchain)..."
|
||||
cargo build -p tines-ros2 --features ros2
|
||||
|
||||
echo "OK: tines-ros2 (ros2 feature) built against ROS2."
|
||||
@@ -0,0 +1,28 @@
|
||||
[package]
|
||||
name = "tines-ros2"
|
||||
version.workspace = true
|
||||
edition.workspace = true
|
||||
license.workspace = true
|
||||
description = "Self-contained ROS2 node for tines: bridges tines topics to ROS2 topics with a /tines/receipts channel for confidence events. rclrs is an optional feature (off by default) so the crate builds without a ROS2 toolchain."
|
||||
authors.workspace = true
|
||||
repository.workspace = true
|
||||
readme.workspace = true
|
||||
documentation = "https://docs.rs/tines-ros2"
|
||||
keywords = ["robotics", "ros2", "gossip", "delay-tolerant", "science::robotics"]
|
||||
categories = ["science::robotics", "network-programming"]
|
||||
|
||||
[features]
|
||||
# rclrs (the ROS2 client library) is optional and off by default: the crate's
|
||||
# pure tines-side pieces (topic naming, the Node/Store/Transport wiring) build
|
||||
# and are tested without a ROS2 toolchain. Enable `--features ros2` to compile
|
||||
# the rclrs-backed `TinesNode`.
|
||||
default = []
|
||||
ros2 = ["dep:rclrs"]
|
||||
|
||||
[dependencies]
|
||||
tines-core = { path = "../tines-core", version = "0.3.0" }
|
||||
tines-store = { path = "../tines-store", version = "0.3.0" }
|
||||
tines-bt = { path = "../tines-bt", version = "0.3.0" }
|
||||
rclrs = { version = "0.8", optional = true }
|
||||
|
||||
[dev-dependencies]
|
||||
@@ -0,0 +1,33 @@
|
||||
//! tines-ros2: a ROS2 front-end for the tines content-defined gossip stack.
|
||||
//!
|
||||
//! The crate splits cleanly in two:
|
||||
//!
|
||||
//! * **Pure, ROS2-free** (built by default): [`topic_name`] escapes an
|
||||
//! arbitrary tines topic into a valid ROS2 topic name under `/tines/`, and
|
||||
//! the tines-side wiring composes [`tines_core::Node`],
|
||||
//! [`tines_store::LogStore`], and [`tines_bt::BtTransport`] with no ROS2
|
||||
//! dependency. This is what builds and is tested without a ROS2 toolchain.
|
||||
//!
|
||||
//! * **rclrs-backed** (feature `ros2`): `TinesNode`, a self-contained ROS2 node
|
||||
//! that publishes each tines topic as a ROS2 topic and
|
||||
//! [`crate::RECEIPTS_TOPIC`] for [`tines_core::ConfidenceEvent`]s, and
|
||||
//! subscribes for new observations. Compiled only behind
|
||||
//! `#[cfg(feature = "ros2")]` so the default build never needs rclrs.
|
||||
//!
|
||||
//! See [`check-ros2.sh`](../../scripts/check-ros2.sh) for building the rclrs
|
||||
//! node against a ROS2 toolchain.
|
||||
#![warn(missing_docs)]
|
||||
|
||||
pub mod topics;
|
||||
|
||||
/// ROS2 topic carrying serialized [`tines_core::ConfidenceEvent`]s (one per
|
||||
/// broadcast a peer confirmed holding). Always the hex-escaped literal below.
|
||||
pub const RECEIPTS_TOPIC: &[u8] = b"/tines/receipts";
|
||||
|
||||
pub use topics::topic_name;
|
||||
|
||||
#[cfg(feature = "ros2")]
|
||||
pub mod node;
|
||||
|
||||
#[cfg(feature = "ros2")]
|
||||
pub use node::TinesNode;
|
||||
@@ -0,0 +1,324 @@
|
||||
//! rclrs-backed ROS2 node for tines (feature `ros2`).
|
||||
//!
|
||||
//! [`TinesNode`] is a self-contained ROS2 node that owns a tines
|
||||
//! [`tines_core::Node`] over a [`tines_store::LogStore`] and a [`tines_bt::BtTransport`].
|
||||
//! It bridges the two stacks in both directions:
|
||||
//!
|
||||
//! * **tines → ROS2**: each distinct live tines topic is published to its
|
||||
//! hex-escaped ROS2 topic (see [`crate::topics::topic_name`]), and every
|
||||
//! [`tines_core::ConfidenceEvent`] the exchange emits is published to
|
||||
//! [`RECEIPTS_TOPIC`].
|
||||
//! * **ROS2 → tines**: inbound messages on a topic are observed back into the
|
||||
//! tines node under the original (decoded) topic.
|
||||
//!
|
||||
//! Topic creation is lazy: a ROS2 publisher/subscriber pair is created the
|
||||
//! first time a topic is seen; the total number of managed topics is bounded by
|
||||
//! [`TinesNode::new`]'s `topic_cap` and by the number of topics actually live
|
||||
//! in the store.
|
||||
//!
|
||||
//! This module is compiled only with `--features ros2`; it requires a ROS2
|
||||
//! toolchain (and `rclrs`) to build. The default, ROS2-free build of the crate
|
||||
//! never touches this code, so the crate is testable without ROS2 installed.
|
||||
//!
|
||||
//! The rclrs calls below follow the rclrs 0.8 API (see the rclrs tutorial):
|
||||
//! the global ROS2 context is set by [`rclrs::init`] (the caller's
|
||||
//! responsibility, done before [`TinesNode::new`]); `Node::new(name, ns)` uses
|
||||
//! it; publishers/subscriptions are created with `create_publisher`/
|
||||
//! `create_subscription`, each taking a `QosProfile`. The exact generic
|
||||
//! arity of those two calls (`<Msg, _>` for a publisher, `<Msg, _, _>` for a
|
||||
//! subscription) and the `QosProfile` builder methods track rclrs 0.8; verify
|
||||
//! against the installed `rclrs` version before relying on them.
|
||||
|
||||
use std::collections::{BTreeSet, HashMap};
|
||||
use std::sync::mpsc::channel;
|
||||
|
||||
use rclrs::prelude::{Node as RclNode, Publisher, QosProfile, Subscription};
|
||||
use rclrs::std_msgs::msg::String as StrMsg;
|
||||
use rclrs::RclError;
|
||||
|
||||
use tines_bt::{BtTransport, Radio};
|
||||
use tines_core::{
|
||||
Node as TinesNodeCore, NodeId, Observation, ObservationId, Store, Tick, Transport,
|
||||
};
|
||||
use tines_store::LogStore;
|
||||
|
||||
use crate::topics::topic_name;
|
||||
|
||||
/// Inbound (topic bytes, payload) delivered from a subscription callback on the
|
||||
/// rclrs dispatch thread to the node's single owner task.
|
||||
type InboundMsg = (Vec<u8>, Vec<u8>);
|
||||
|
||||
/// ROS2 topic carrying confidence events, the literal `/tines/receipts`
|
||||
/// (hex-escaping is a no-op here since the bytes are already valid ROS2 name
|
||||
/// characters). This is a `&str` because ROS2 publisher/subscription creation
|
||||
/// takes a `&str` topic name, unlike the arbitrary-byte [`crate::RECEIPTS_TOPIC`].
|
||||
const RECEIPTS_TOPIC: &str = "/tines/receipts";
|
||||
|
||||
/// QoS for live tines-topic payloads: best-effort, so a slow consumer never
|
||||
/// stalls the node (sensor-style data is continuously refreshed anyway).
|
||||
fn topic_qos() -> QosProfile {
|
||||
QosProfile::default().best_effort().keep_last(128)
|
||||
}
|
||||
|
||||
/// QoS for receipts: reliable + transient-local, so a late-joining consumer
|
||||
/// still receives the receipts emitted while it was disconnected.
|
||||
fn receipt_qos() -> QosProfile {
|
||||
QosProfile::default()
|
||||
.reliable()
|
||||
.transient_local()
|
||||
.keep_last(256)
|
||||
}
|
||||
|
||||
/// A managed ROS2 topic: the tines bytes it maps back to, its publisher, its
|
||||
/// subscription, and the id of the observation last published (to avoid
|
||||
/// re-publishing an unchanged value every poll).
|
||||
struct ManagedTopic {
|
||||
tines_topic: Vec<u8>,
|
||||
publisher: Option<Publisher<StrMsg>>,
|
||||
subscriber: Option<Subscription<StrMsg>>,
|
||||
last_pub: Option<ObservationId>,
|
||||
}
|
||||
|
||||
/// Errors constructing a [`TinesNode`].
|
||||
#[derive(Debug)]
|
||||
pub enum TinesNodeError {
|
||||
/// The underlying rclrs call failed (ROS2 context, QoS, topic creation).
|
||||
Rcl(RclError),
|
||||
/// The [`LogStore`] backend rejected the open/initialization.
|
||||
Store(tines_core::StoreError),
|
||||
}
|
||||
|
||||
impl From<RclError> for TinesNodeError {
|
||||
fn from(err: RclError) -> Self {
|
||||
TinesNodeError::Rcl(err)
|
||||
}
|
||||
}
|
||||
|
||||
impl From<tines_core::StoreError> for TinesNodeError {
|
||||
fn from(err: tines_core::StoreError) -> Self {
|
||||
TinesNodeError::Store(err)
|
||||
}
|
||||
}
|
||||
|
||||
/// A self-contained ROS2 node bridging tines and ROS2.
|
||||
///
|
||||
/// Construct with [`TinesNode::new`], then drive it from your run loop with
|
||||
/// [`TinesNode::poll`]. Inbound ROS2 observations arrive on an internal
|
||||
/// channel and are consumed on the next [`TinesNode::poll`], so the node is not
|
||||
/// thread-safe by itself — drive it from a single task.
|
||||
pub struct TinesNode {
|
||||
node: RclNode,
|
||||
tines: TinesNodeCore<LogStore, BtTransport>,
|
||||
/// ROS2 topics currently managed (ROS2 topic name → bookkeeping).
|
||||
managed: HashMap<String, ManagedTopic>,
|
||||
/// Receipt publisher for confidence events.
|
||||
receipt_pub: Publisher<StrMsg>,
|
||||
/// Channel from subscription callbacks back to this node.
|
||||
inbound_rx: std::sync::mpsc::Receiver<InboundMsg>,
|
||||
/// Cloned per subscription so callbacks can route inbound bytes.
|
||||
inbound_tx: std::sync::mpsc::Sender<InboundMsg>,
|
||||
/// Upper bound on the number of managed ROS2 topics.
|
||||
topic_cap: usize,
|
||||
}
|
||||
|
||||
impl TinesNode {
|
||||
/// Initialize a node for local id `me` over a [`LogStore`] and a
|
||||
/// [`BtTransport`].
|
||||
///
|
||||
/// * `log_path` — where the backing [`LogStore`] lives (created if missing).
|
||||
/// * `peer` / `radio` — the BLE connection this node exchanges over.
|
||||
/// * `first_seq` — the next tines observation sequence to use.
|
||||
/// * `topic_cap` — the maximum number of ROS2 topics to manage at once.
|
||||
///
|
||||
/// The ROS2 context must already be initialized via [`rclrs::init`] (the
|
||||
/// caller's responsibility). The store's anchor tick is `0`; ages then
|
||||
/// advance under the `Tick` values passed to [`TinesNode::poll`].
|
||||
pub fn new(
|
||||
me: NodeId,
|
||||
first_seq: u64,
|
||||
log_path: &std::path::Path,
|
||||
peer: NodeId,
|
||||
radio: impl Radio + 'static,
|
||||
topic_cap: usize,
|
||||
) -> Result<Self, TinesNodeError> {
|
||||
// rclrs uses the global context set by `rclrs::init`.
|
||||
let node = RclNode::new("tines", "")?;
|
||||
|
||||
let store = LogStore::new(log_path, 0, first_seq)?;
|
||||
let transport = BtTransport::new(me, peer, radio);
|
||||
let tines = TinesNodeCore::new(me, first_seq, store, transport);
|
||||
|
||||
let receipt_pub = node.create_publisher::<StrMsg, _>(RECEIPTS_TOPIC, receipt_qos())?;
|
||||
let (inbound_tx, inbound_rx) = channel::<InboundMsg>();
|
||||
|
||||
Ok(Self {
|
||||
node,
|
||||
tines,
|
||||
managed: HashMap::new(),
|
||||
receipt_pub,
|
||||
inbound_rx,
|
||||
inbound_tx,
|
||||
topic_cap,
|
||||
})
|
||||
}
|
||||
|
||||
/// The local tines node id this node was built with.
|
||||
pub fn id(&self) -> NodeId {
|
||||
self.tines.id()
|
||||
}
|
||||
|
||||
/// The current in-memory count of managed ROS2 topics.
|
||||
pub fn managed_topic_count(&self) -> usize {
|
||||
self.managed.len()
|
||||
}
|
||||
|
||||
/// One bridge tick: consume inbound ROS2 observations, drive the tines
|
||||
/// exchange, publish live topics, and publish any confidence events.
|
||||
///
|
||||
/// Returns the number of *new* observations stored this round (from
|
||||
/// [`TinesNodeCore::poll`]).
|
||||
pub fn poll(&mut self, now: Tick) -> Result<usize, TinesNodeError> {
|
||||
self.drain_inbound(now);
|
||||
let stored = self.tines.poll(now);
|
||||
self.publish_live_topics(now)?;
|
||||
self.publish_receipts();
|
||||
Ok(stored)
|
||||
}
|
||||
|
||||
/// Observe inbound ROS2 observations into the tines node, skipping anything
|
||||
/// oversized for tines to reject.
|
||||
fn drain_inbound(&mut self, now: Tick) {
|
||||
while let Ok((topic, payload)) = self.inbound_rx.try_recv() {
|
||||
if payload.len() > tines_core::consts::MAX_PAYLOAD
|
||||
|| topic.len() > tines_core::consts::MAX_TOPIC
|
||||
{
|
||||
continue; // oversized; tines would reject it anyway
|
||||
}
|
||||
let _ = self.tines.observe(&topic, &payload, None, now);
|
||||
}
|
||||
}
|
||||
|
||||
/// Lazily create a ROS2 publisher/subscriber pair for `tines_topic`, bounded
|
||||
/// by [`TinesNode::new`]'s `topic_cap`.
|
||||
fn ensure(&mut self, tines_topic: &[u8]) -> Result<(), TinesNodeError> {
|
||||
let name = topic_name(tines_topic);
|
||||
if self.managed.contains_key(&name) {
|
||||
return Ok(());
|
||||
}
|
||||
if self.managed.len() >= self.topic_cap {
|
||||
return Ok(()); // cap reached; bound live-topic creation
|
||||
}
|
||||
|
||||
// The subscription callback owns a channel sender and a copy of the
|
||||
// original topic bytes — not `self` — so it can outlive this borrow.
|
||||
let inbound_tx = self.inbound_tx.clone();
|
||||
let tines_topic_cb = tines_topic.to_vec();
|
||||
let subscriber = self.node.create_subscription::<StrMsg, _, _>(
|
||||
&name,
|
||||
topic_qos(),
|
||||
move |msg: &StrMsg| {
|
||||
let _ = inbound_tx.send((tines_topic_cb.clone(), msg.data.as_bytes().to_vec()));
|
||||
},
|
||||
)?;
|
||||
let publisher = self
|
||||
.node
|
||||
.create_publisher::<StrMsg, _>(&name, topic_qos())?;
|
||||
|
||||
self.managed.insert(
|
||||
name,
|
||||
ManagedTopic {
|
||||
tines_topic: tines_topic.to_vec(),
|
||||
publisher: Some(publisher),
|
||||
subscriber: Some(subscriber),
|
||||
last_pub: None,
|
||||
},
|
||||
);
|
||||
Ok(())
|
||||
}
|
||||
|
||||
/// Publish every distinct topic currently live in the store.
|
||||
fn publish_live_topics(&mut self, now: Tick) -> Result<(), TinesNodeError> {
|
||||
// Distinct live topics, via the store's topic iterator.
|
||||
let mut topics: BTreeSet<Vec<u8>> = BTreeSet::new();
|
||||
self.tines.store().for_each_topic(&[], now, &mut |obs| {
|
||||
topics.insert(obs.topic.as_slice().to_vec())
|
||||
});
|
||||
|
||||
// Create publishers for any topic we don't yet manage (cap-bounded in
|
||||
// [`Self::ensure`]).
|
||||
for tines_topic in topics {
|
||||
let name = topic_name(&tines_topic);
|
||||
if self.managed.contains_key(&name) {
|
||||
continue;
|
||||
}
|
||||
self.ensure(&tines_topic)?;
|
||||
}
|
||||
|
||||
// Publish the latest observation for every managed topic.
|
||||
let managed: Vec<String> = self.managed.keys().cloned().collect();
|
||||
for name in managed {
|
||||
if let Some(topic) = self.managed.get_mut(&name) {
|
||||
self.publish_one(&topic.tines_topic, name, now)?;
|
||||
}
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
/// Publish the latest observation for a single managed topic, unless its
|
||||
/// value is unchanged since the last publish (to avoid a busy loop).
|
||||
fn publish_one(
|
||||
&mut self,
|
||||
tines_topic: &[u8],
|
||||
name: String,
|
||||
now: Tick,
|
||||
) -> Result<(), TinesNodeError> {
|
||||
let topic = self
|
||||
.managed
|
||||
.get_mut(&name)
|
||||
.expect("managed topic still present");
|
||||
if let (Some(publisher), Some(obs)) =
|
||||
(topic.publisher.as_mut(), self.latest_obs(tines_topic, now))
|
||||
{
|
||||
if topic.last_pub == Some(obs.id()) {
|
||||
return Ok(());
|
||||
}
|
||||
let payload = String::from_utf8_lossy(&obs.payload).into_owned();
|
||||
let msg = StrMsg { data: payload };
|
||||
let _ = publisher.publish(&msg);
|
||||
topic.last_pub = Some(obs.id());
|
||||
}
|
||||
Ok(())
|
||||
}
|
||||
|
||||
/// The youngest observation for `tines_topic`, if any.
|
||||
fn latest_obs(&self, tines_topic: &[u8], now: Tick) -> Option<Observation> {
|
||||
let mut best: Option<Observation> = None;
|
||||
self.tines
|
||||
.store()
|
||||
.for_each_topic(tines_topic, now, &mut |obs| match best {
|
||||
Some(ref b) if obs.age_ms >= b.age_ms => {}
|
||||
_ => best = Some(obs.clone()),
|
||||
});
|
||||
best
|
||||
}
|
||||
|
||||
/// Publish every pending confidence event to [`RECEIPTS_TOPIC`].
|
||||
fn publish_receipts(&mut self) {
|
||||
let events = self.tines.drain_events();
|
||||
for ev in events.iter() {
|
||||
let payload = format!("{}:{}", hex16(ev.peer), hex16(ev.id));
|
||||
let msg = StrMsg { data: payload };
|
||||
let _ = self.receipt_pub.publish(&msg);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Render a fixed-width id as lowercase hex (no allocator needed).
|
||||
fn hex16(id: &[u8; 16]) -> String {
|
||||
use core::fmt::Write;
|
||||
let mut s = String::with_capacity(32);
|
||||
for byte in id {
|
||||
let _ = write!(s, "{byte:02x}");
|
||||
}
|
||||
s
|
||||
}
|
||||
@@ -0,0 +1,34 @@
|
||||
//! ROS2 topic naming for tines.
|
||||
//!
|
||||
//! tines topics are arbitrary byte strings up to [`tines_core::consts::MAX_TOPIC`], which
|
||||
//! may contain characters ROS2 cannot put directly in a topic name (`/`,
|
||||
//! control bytes, non-ASCII, …). [`topic_name`] hex-escapes the bytes into a
|
||||
//! deterministic, injective name under the `/tines/` namespace, so every tines
|
||||
//! topic maps to exactly one valid ROS2 topic and back.
|
||||
|
||||
use core::fmt::Write;
|
||||
|
||||
/// The namespace every hex-escaped tines topic lives under.
|
||||
const TINES_PREFIX: &str = "/tines/";
|
||||
|
||||
/// Escapes a tines topic into a valid ROS2 topic name under `/tines/`.
|
||||
///
|
||||
/// The raw topic bytes are rendered as lowercase hex; the result is the
|
||||
/// `TINES_PREFIX` (`"/tines/"`) followed by that hex. Encoding is
|
||||
/// **deterministic** (same bytes always produce the same name) and
|
||||
/// **injective** (distinct byte strings never collide), because the hex map
|
||||
/// between byte strings and even-length hex strings is a bijection. The empty
|
||||
/// topic therefore maps to just `/tines/`.
|
||||
///
|
||||
/// ```
|
||||
/// assert_eq!(tines_ros2::topic_name(b"door/3"), "/tines/646f6f722f33");
|
||||
/// ```
|
||||
pub fn topic_name(tines_topic: &[u8]) -> String {
|
||||
let mut name = String::with_capacity(TINES_PREFIX.len() + tines_topic.len() * 2);
|
||||
name.push_str(TINES_PREFIX);
|
||||
for &byte in tines_topic {
|
||||
// `write!` into a `String` never errors, so the `Err` arm is unreachable.
|
||||
let _ = write!(name, "{byte:02x}");
|
||||
}
|
||||
name
|
||||
}
|
||||
@@ -0,0 +1,74 @@
|
||||
//! Integration tests for [`tines_ros2::topic_name`] (pure, default features).
|
||||
|
||||
use tines_core::consts::MAX_TOPIC;
|
||||
use tines_ros2::topic_name;
|
||||
|
||||
/// Every arbitrary input — control bytes, high/non-ASCII bytes, slashes, and
|
||||
/// even the empty topic — escapes into a valid ROS2 topic name under
|
||||
/// `/tines/` consisting solely of lowercase hex digits.
|
||||
#[test]
|
||||
fn topic_name_escapes() {
|
||||
let inputs: [&[u8]; 5] = [
|
||||
b"door/3".as_ref(),
|
||||
b"".as_ref(),
|
||||
[0u8, 1, 2, 250, 128, 255].as_ref(),
|
||||
"café — naïve ✓".as_bytes(),
|
||||
&vec![7u8; MAX_TOPIC][..],
|
||||
];
|
||||
|
||||
for input in inputs {
|
||||
let name = topic_name(input);
|
||||
// Valid ROS2 topic names are absolute (start with `/`) and contain no
|
||||
// illegal characters; here the tail is pure hex, so both hold.
|
||||
assert!(
|
||||
name.starts_with("/tines/"),
|
||||
"topic must live under the /tines/ namespace: {name}"
|
||||
);
|
||||
let hex = &name["/tines/".len()..];
|
||||
assert_eq!(
|
||||
hex.len(),
|
||||
input.len() * 2,
|
||||
"each byte must become exactly two hex digits"
|
||||
);
|
||||
// Each byte maps to exactly its two lowercase hex digits.
|
||||
for (byte, pair) in input.iter().zip(hex.as_bytes().chunks(2)) {
|
||||
assert_eq!(
|
||||
pair,
|
||||
format!("{byte:02x}").into_bytes(),
|
||||
"byte {byte:02x} must escape to its lowercase hex {byte:02x}"
|
||||
);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/// Encoding is deterministic and injective across the full range of topic
|
||||
/// lengths up to [`MAX_TOPIC`]: distinct byte strings never collide.
|
||||
#[test]
|
||||
fn topic_name_roundtrip() {
|
||||
// Deterministic: identical input yields identical output.
|
||||
assert_eq!(topic_name(b"door/3"), topic_name(b"door/3"));
|
||||
|
||||
// Injective: every distinct-length input maps to a distinct name. Hex of
|
||||
// distinct byte strings is distinct, and the shared `/tines/` prefix cannot
|
||||
// cause a cross-length collision (the hex tail has length `2 * len`).
|
||||
for len in 0..=MAX_TOPIC {
|
||||
// A prefix of distinct bytes: `len == a` yields a name never seen at any
|
||||
// other `len`, and distinct `len` values cannot collide.
|
||||
let input: Vec<u8> = (0..len).map(|i| (i % 251) as u8).collect();
|
||||
assert!(topic_name(&input).starts_with("/tines/"));
|
||||
}
|
||||
|
||||
// Cross-check: distinct byte strings of *equal* length never collide.
|
||||
let mut names = std::collections::BTreeSet::new();
|
||||
for seed in 0..=255u8 {
|
||||
let input: Vec<u8> = (0..MAX_TOPIC).map(|i| seed.wrapping_add(i as u8)).collect();
|
||||
let name = topic_name(&input);
|
||||
assert!(name.starts_with("/tines/"));
|
||||
assert!(
|
||||
names.insert(name),
|
||||
"injectivity violated: seed {seed} collided"
|
||||
);
|
||||
}
|
||||
|
||||
assert_eq!(names.len(), 256, "256 distinct equal-length names expected");
|
||||
}
|
||||
Reference in New Issue
Block a user