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Added sample protobuf services math_server and math_client (#94)
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9 files changed

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9 files changed

+330
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‎Cargo.toml‎

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@@ -22,6 +22,8 @@ members = [
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"rustecal-samples/pubsub/person_receive",
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"rustecal-samples/pubsub/serde_send",
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"rustecal-samples/pubsub/serde_receive",
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"rustecal-samples/service/math_client",
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"rustecal-samples/service/math_server",
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"rustecal-samples/service/mirror_client",
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"rustecal-samples/service/mirror_client_instances",
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"rustecal-samples/service/mirror_server",

‎rustecal-samples/service/math_client/Cargo.toml‎

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[package]
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name = "math_client"
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version = "0.1.0"
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edition = "2024"
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[dependencies]
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rustecal = { path = "../../../rustecal", features = ["service"] }
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prost = "0.14"
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[build-dependencies]
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prost-build = "0.14"
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prost-reflect-build = "0.16.0"

‎rustecal-samples/service/math_client/build.rs‎

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fn main() {
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let protos = ["proto/math.proto"];
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let protos_inc = ["proto"];
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prost_build::compile_protos(&protos, &protos_inc).unwrap();
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}

‎rustecal-samples/service/math_client/proto/math.proto‎

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/* ========================= eCAL LICENSE =================================
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*
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* Copyright (C) 2016 - 2019 Continental Corporation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* ========================= eCAL LICENSE =================================
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*/
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syntax = "proto3";
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option cc_generic_services = true;
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///////////////////////////////////////////////////////
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// Math Service
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///////////////////////////////////////////////////////
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message SFloatTuple
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{
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double inp1 = 1;
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double inp2 = 2;
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}
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message SFloat
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{
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double out = 1;
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}
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service MathService
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{
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rpc Add (SFloatTuple) returns (SFloat);
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rpc Multiply (SFloatTuple) returns (SFloat);
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rpc Divide (SFloatTuple) returns (SFloat);
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}

‎rustecal-samples/service/math_client/src/main.rs‎

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use prost::Message;
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use rustecal::{CallState, ServiceClient, ServiceRequest};
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use rustecal::{Ecal, EcalComponents};
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use std::thread;
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use std::time::Duration;
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// Add the protobuf compiled by prost
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mod math_pb {
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include!(concat!(env!("OUT_DIR"), "/_.rs"));
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}
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use math_pb::{SFloat, SFloatTuple};
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fn main() -> Result<(), Box<dyn std::error::Error>> {
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// initialize eCAL
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Ecal::initialize(Some("math client rust"), EcalComponents::DEFAULT, None)
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.expect("eCAL initialization failed");
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let client = ServiceClient::new("MathService")?;
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// wait until connected
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while client.get_client_instances().is_empty() {
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println!("Waiting for a service ..");
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thread::sleep(Duration::from_secs(1));
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}
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let methods = ["Add", "Multiply", "Divide"];
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let mut i = 0;
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while Ecal::ok() {
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let method_name = methods[i % methods.len()];
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i += 1;
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let payload_pb = SFloatTuple {
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inp1: i as f64,
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inp2: (i + 1) as f64,
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};
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let request = ServiceRequest {
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payload: payload_pb.encode_to_vec(),
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};
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for instance in client.get_client_instances() {
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let response = instance.call(method_name, request.clone(), Some(1000));
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println!();
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println!(
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"Method '{}' called with message: {:?}",
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method_name, payload_pb
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);
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match response {
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Some(res) => match CallState::from(res.success as i32) {
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CallState::Executed => {
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let response_data = SFloat::decode(&res.payload[..])?;
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println!(
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"Received response: {:?} from service id {:?}",
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response_data, res.server_id.service_id.entity_id
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);
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}
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CallState::Failed => {
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println!(
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"Received error: {} from service id {:?}",
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res.error_msg.unwrap_or_else(|| "Unknown".into()),
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res.server_id.service_id.entity_id
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);
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}
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_ => {}
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},
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None => {
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println!("Method blocking call failed ..");
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}
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}
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}
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thread::sleep(Duration::from_secs(1));
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}
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// clean up and finalize eCAL
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Ecal::finalize();
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Ok(())
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}

‎rustecal-samples/service/math_server/Cargo.toml‎

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[package]
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name = "math_server"
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version = "0.1.0"
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edition = "2024"
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[dependencies]
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rustecal = { path = "../../../rustecal", features = ["service"] }
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prost = "0.14"
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[build-dependencies]
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prost-build = "0.14"
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prost-reflect-build = "0.16.0"

‎rustecal-samples/service/math_server/build.rs‎

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fn main() {
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let protos = ["proto/math.proto"];
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let protos_inc = ["proto"];
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prost_build::compile_protos(&protos, &protos_inc).unwrap();
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}

‎rustecal-samples/service/math_server/proto/math.proto‎

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/* ========================= eCAL LICENSE =================================
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*
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* Copyright (C) 2016 - 2019 Continental Corporation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* ========================= eCAL LICENSE =================================
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*/
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syntax = "proto3";
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option cc_generic_services = true;
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///////////////////////////////////////////////////////
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// Math Service
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///////////////////////////////////////////////////////
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message SFloatTuple
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{
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double inp1 = 1;
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double inp2 = 2;
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}
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message SFloat
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{
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double out = 1;
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}
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service MathService
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{
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rpc Add (SFloatTuple) returns (SFloat);
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rpc Multiply (SFloatTuple) returns (SFloat);
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rpc Divide (SFloatTuple) returns (SFloat);
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}

‎rustecal-samples/service/math_server/src/main.rs‎

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use prost::Message;
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use rustecal::{Ecal, EcalComponents};
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use rustecal::{MethodInfo, ServiceServer};
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// Add the protobuf compiled by prost
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mod math_pb {
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include!(concat!(env!("OUT_DIR"), "/_.rs"));
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}
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use math_pb::{SFloat, SFloatTuple};
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fn main() -> Result<(), Box<dyn std::error::Error>> {
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// initialize eCAL
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Ecal::initialize(Some("math server rust"), EcalComponents::DEFAULT, None)
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.expect("eCAL initialization failed");
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// create the service server named "MathService"
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let mut server = ServiceServer::new("MathService")?;
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// register "Add" method from protobuf rpc
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server.add_method(
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"Add",
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Box::new(|info: MethodInfo, req: &[u8]| {
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// Decode serialized protobuf request
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let req_pb = SFloatTuple::decode(req);
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match req_pb {
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Ok(pb) => {
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println!(
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"Received request for MathService in Rust: {}",
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info.method_name
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);
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println!("Input1 : {}", pb.inp1);
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println!("Input2 : {}", pb.inp2);
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println!();
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let result = SFloat {
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out: pb.inp1 + pb.inp2,
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};
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// Serialize protobuf response
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result.encode_to_vec()
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}
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_ => {
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println!("Unable to decode protobuf");
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vec![]
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}
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}
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}),
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)?;
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// register "Multiply" method from protobuf rpc
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server.add_method(
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"Multiply",
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Box::new(|info: MethodInfo, req: &[u8]| {
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// Decode serialized protobuf request
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let req_pb = SFloatTuple::decode(req);
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match req_pb {
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Ok(pb) => {
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println!(
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"Received request for MathService in Rust: {}",
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info.method_name
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);
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println!("Input1 : {}", pb.inp1);
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println!("Input2 : {}", pb.inp2);
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println!();
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let result = SFloat {
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out: pb.inp1 * pb.inp2,
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};
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// Serialize protobuf response
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result.encode_to_vec()
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}
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_ => {
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println!("Unable to decode protobuf");
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vec![]
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}
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}
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}),
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)?;
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// register "Divide" method from protobuf rpc
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server.add_method(
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"Divide",
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Box::new(|info: MethodInfo, req: &[u8]| {
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// Decode serialized protobuf request
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let req_pb = SFloatTuple::decode(req);
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match req_pb {
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Ok(pb) => {
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println!(
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"Received request for MathService in Rust: {}",
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info.method_name
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);
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println!("Input1 : {}", pb.inp1);
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println!("Input2 : {}", pb.inp2);
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println!();
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let result = SFloat {
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out: pb.inp1 / pb.inp2,
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};
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// Serialize protobuf response
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result.encode_to_vec()
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}
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_ => {
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println!("Unable to decode protobuf");
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vec![]
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}
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}
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}),
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)?;
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println!("Rust math service running. Press Ctrl+C to exit.");
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while Ecal::ok() {
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std::thread::sleep(std::time::Duration::from_millis(100));
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}
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// clean up and finalize eCAL
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Ecal::finalize();
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Ok(())
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}

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