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Added DSDL and sequence diagram for RPC client relay.
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‎docs/svc_design.md‎

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@@ -10,6 +10,7 @@ This document describes IPC contracts between various clients and corresponding
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- [`AccessRegisters`](#accessregisters)
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- [Relay services](#relay-services)
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- [`RawPublisher`](#rawpublisher)
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- [`RawRpcClient`](#rawrpcclient)
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- [`RawSubscriber`](#rawsubscriber)
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- [File Server services](#file-server-services)
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- [`ListRoots`](#listroots)
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end
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```
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## `RawRpcClient`
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**DSDL definitions:**
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- `RawRpcClient.0.1.dsdl`
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```
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@union
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uavcan.primitive.Empty.1.0 empty
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RawRpcClientCreate.0.1 create
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RawRpcClientConfig.0.1 config
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RawRpcClientSend.0.1 send
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@sealed
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---
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@union
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uavcan.primitive.Empty.1.0 empty
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RawRpcClientReceive.0.1 receive
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ocvsmd.common.Error.0.1 send_error
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ocvsmd.common.Error.0.1 receive_error
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@sealed
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```
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- `RawRpcClientCreate.0.1.dsdl`
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```
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uint64 extent_size
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uint16 service_id
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uint16 server_node_id
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@extent 32 * 8
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```
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- `RawRpcClientConfig.0.1.dsdl`
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```
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uint8[<=1] priority
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@extent 32 * 8
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```
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- `RawRpcClientSend.0.1.dsdl`
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```
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uint64 request_timeout_us
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uint64 response_timeout_us
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uint64 payload_size
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@extent 64 * 8
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```
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- `RawRpcClientReceive.0.1.dsdl`
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```
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uint8 priority
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uint16 remote_node_id
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uint64 payload_size
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@extent 32 * 8
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```
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**Sequence diagram**
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```mermaid
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sequenceDiagram
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actor User
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participant RpcClient as RpcClient<br/><<sender>>>
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participant RawRpcClient as RawRpcClient<br/><<sender>>>
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participant RawRpcClientService
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participant CyServiceClient as LibCyphal<br/>RawServiceClient
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actor NodeX as NodeX<br/><<cyphal node>>
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Note over RpcClient, CyServiceClient: Creating of a Cyphal Network RpcClient.
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User ->>+ RawRpcClient: submit(service_id, extent, srv_node_id)
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RawRpcClient --)+ RawRpcClientService: Route{ChMsg{}}<br/>RawRpcClient.Request_0_1{Create{service_id, extent, srv_node_id}}
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RawRpcClient ->>- User : return
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RawRpcClientService ->> CyServiceClient: client = create.makeClient(srv_node_id, service_id, extent)
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activate RawRpcClient
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alt success
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RawRpcClientService --) RawRpcClient: Route{ChMsg{}}<br/>RawRpcClient.Response_0_1{empty}
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RawRpcClient ->> RpcClient: create(move(channel))
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Note right of RawRpcClient: The client has fulfilled its "factory" role, and<br/>now the RpcClient continues with the channel.
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else failure
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RawRpcClientService --) RawRpcClient: Route{ChEnd{alive=false, error}}
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end
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deactivate RawRpcClientService
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RawRpcClient -)- User: receiver(rpc_client_or_failure)
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Note over RpcClient, CyServiceClient: Making requests to Cyphal Network, receiving responses, and changing request priorities.
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loop while keeping the rpc client alive
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alt making requests
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%% Request
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%%
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Note over RawRpcClient, RawRpcClientService: Making a request
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User ->>+ RpcClient: request<Msg>(msg, timeouts)
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RpcClient ->> RpcClient: rawRequest(raw_payload, timeouts)
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RpcClient --)+ RawRpcClientService: Route{ChMsg{}}<br/>RawRpcClient.Request_0_1{Send{payload_size, timeouts}}<br/>raw_payload
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RpcClient ->>- User: return
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RawRpcClientService ->>+ CyServiceClient: promise = client.request(raw_payload, timeouts)
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CyServiceClient --) NodeX: SvcRequest<service_id>{}
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Note left of NodeX: Cyphal network servers(s)<br/>receive the service request.
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CyServiceClient ->>- RawRpcClientService: promise
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opt if error
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RawRpcClientService --)+ RpcClient: Route{ChMsg{}}<br/>RawRpcClient.Response_0_1{request_error}
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deactivate RawRpcClientService
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opt there is a receiver
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Note right of RpcClient: failure will be dropped<br/>if there is no receiver
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RpcClient -)- User: receiver<Result>(failure)
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end
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end
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%% Response
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%%
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Note over RawRpcClient, RawRpcClientService: Waiting for response...
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alt
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NodeX --) CyServiceClient: SvcResponse<service_id>{}
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else
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CyServiceClient -) CyServiceClient: timeout or failure
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end
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CyServiceClient ->>+ RawRpcClientService: promise result
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alt success
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RawRpcClientService --)+ RpcClient: Route{ChMsg{}}<br/>RawRpcClient.Response_0_1{Receive{size, meta}}}<br/>raw_payload
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RpcClient ->> RpcClient: response.deserialize(raw_payload)
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else failure
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RawRpcClientService --) RpcClient: Route{ChMsg{}}<br/>RawRpcClient.Response_0_1{response_error}}
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end
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deactivate RawRpcClientService
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opt there is a receiver
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Note right of RpcClient: result will be dropped<br/>if there is no receiver
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RpcClient -)- User: receiver<Result>(result)
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end
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else configuring priority
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User ->>+ RpcClient: setPriority(priority)
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RpcClient --)+ RawRpcClientService: Route{ChMsg{}}<br/>RawRpcClient.Request_0_1{Config{priority}}
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RpcClient ->>- User: opt_error
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opt !priority.empty
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RawRpcClientService ->> CyServiceClient: client.setPriority(priority.front)
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end
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deactivate RawRpcClientService
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end
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end
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Note over RpcClient, CyServiceClient: Releasing the Cyphal Network RpcClient.
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User -x+ RpcClient: release
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RpcClient --)+ RawRpcClientService: Route{ChEnd{alive=false}}
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deactivate RpcClient
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RawRpcClientService -x CyServiceClient: release client
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deactivate RawRpcClientService
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box SDK Client
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actor User
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participant RpcClient
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participant RawRpcClient
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end
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box Daemon process<br/>《cyphal node》
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participant RawRpcClientService
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participant CyServiceClient
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end
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box Cyphal Network Nodes
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actor NodeX
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end
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```
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## `RawSubscriber`
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**DSDL definitions:**

‎src/common/CMakeLists.txt‎

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${dsdl_ocvsmd_dir}/common/svc/node/UavcanNodeExecCmdReq.0.1.dsdl
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${dsdl_ocvsmd_dir}/common/svc/node/UavcanNodeExecCmdRes.0.1.dsdl
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${dsdl_ocvsmd_dir}/common/svc/relay/RawPublisher.0.1.dsdl
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${dsdl_ocvsmd_dir}/common/svc/relay/RawRpcClient.0.1.dsdl
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${dsdl_ocvsmd_dir}/common/svc/relay/RawSubscriber.0.1.dsdl
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)
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‎src/common/dsdl/ocvsmd/common/svc/relay/RawRpcClient.0.1.dsdl‎

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@union
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uavcan.primitive.Empty.1.0 empty
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RawRpcClientCreate.0.1 create
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RawRpcClientConfig.0.1 config
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RawRpcClientSend.0.1 send
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@sealed
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---
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@union
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uavcan.primitive.Empty.1.0 empty
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RawRpcClientReceive.0.1 receive
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ocvsmd.common.Error.0.1 send_error
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ocvsmd.common.Error.0.1 receive_error
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@sealed

‎src/common/dsdl/ocvsmd/common/svc/relay/RawRpcClientConfig.0.1.dsdl‎

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uint8[<=1] priority
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@extent 32 * 8

‎src/common/dsdl/ocvsmd/common/svc/relay/RawRpcClientCreate.0.1.dsdl‎

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uint64 extent_size
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uint16 service_id
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uint16 server_node_id
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@extent 32 * 8

‎src/common/dsdl/ocvsmd/common/svc/relay/RawRpcClientReceive.0.1.dsdl‎

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uint8 priority
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uint16 remote_node_id
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uint64 payload_size
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@extent 32 * 8

‎src/common/dsdl/ocvsmd/common/svc/relay/RawRpcClientSend.0.1.dsdl‎

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uint64 request_timeout_us
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uint64 response_timeout_us
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uint64 payload_size
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@extent 64 * 8

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