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Merged
lukasmittag merged 2 commits into from
May 28, 2025
Merged

zenoh-kuksa-provider uses kuksa-rust-sdk #28

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46f8311
zenoh-kuksa-provider uses kuksa-rust-sdk
eriksven May 13, 2025
fd41045
upgrading used Kuksa SDK version in Zenoh provider
eriksven May 27, 2025
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11 changes: 8 additions & 3 deletions zenoh-kuksa-provider/Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -11,6 +11,9 @@
# SPDX-License-Identifier: Apache-2.0
########################################################################

[workspace]


[package]
name = "zenoh-kuksa-provider"
version = "0.1.0"
Expand All @@ -20,9 +23,11 @@ edition = "2021"
clap = { version = "4.5.18", features = ["derive", "env"] }
env_logger = "0.10.2"
json5 = "0.4.1"
kuksa = { git = "https://github.com/eclipse-kuksa/kuksa-databroker.git", branch = "feature/refactor_kuksa_crate", package = "kuksa" }
kuksa-rust-sdk = "0.1.3"
log = "0.4.21"
prost-types = "0.11.9"
prost-types = "0.12.4"
serde = { version = "1.0.207", features = ["derive"] }
tokio = { version = "1.0", features = ["full"] }
zenoh = { version = "1.0.0" }
zenoh = { version = "1.3.4" }
# use same version of http as in kuksa-rust-sdk
http = "0.2.12"
25 changes: 13 additions & 12 deletions zenoh-kuksa-provider/src/main.rs
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Expand Up @@ -12,6 +12,8 @@
********************************************************************************/

use clap::Parser;
use kuksa_rust_sdk::kuksa::common::ClientTraitV1;
use kuksa_rust_sdk::kuksa::val::v1::KuksaClient;
use log::{debug, error, info, warn};
use provider_config::ProviderConfig;
use std::collections::HashMap;
Expand Down Expand Up @@ -54,7 +56,7 @@ impl Args {
async fn handling_zenoh_subscription(
session: Arc<Session>,
metadata_store: MetadataStore,
mut kuksa_client: kuksa::Client,
mut kuksa_client: KuksaClient,
) {
info!("Listening on selector: {:?}", VEHCILE_KEY_EXPR);

Expand Down Expand Up @@ -87,22 +89,21 @@ async fn handling_zenoh_subscription(
async fn publish_to_zenoh(
provider_config: ProviderConfig,
session: Arc<Session>,
mut kuksa_client: kuksa::Client,
mut kuksa_client: KuksaClient
) {
let vss_paths = Vec::from_iter(provider_config.signals.iter().map(String::as_str));

let mut publishers: HashMap<String, Publisher<'_>> = HashMap::new();
for vss_path in &vss_paths {
for vss_path in provider_config.signals.clone() {
let zenoh_key = vss_path.replace(".", "/");
let publisher = session.declare_publisher(zenoh_key.clone()).await.unwrap();
publishers.insert(vss_path.to_string(), publisher);
publishers.insert(vss_path, publisher);

}
info!(
"Subscribing to the following paths on the Kuksa Databroker: {:?}",
vss_paths
publishers.keys()
);

match kuksa_client.subscribe_target_values(vss_paths).await {
match kuksa_client.subscribe_target_values(provider_config.signals).await {
Ok(mut stream) => {
while let Some(response) = stream.message().await.unwrap() {
for update in &response.updates {
Expand Down Expand Up @@ -155,14 +156,14 @@ async fn main() -> Result<(), Box<dyn std::error::Error>> {

let metadata_store = create_metadata_store();

let uri = kuksa::Uri::try_from(provider_config.kuksa.databroker_url.as_str())
let uri = http::Uri::try_from(provider_config.kuksa.databroker_url.as_str())
.expect("Invalid URI for Kuksa Databroker connection.");
let mut client = kuksa::Client::new(uri.clone());
let actuation_client = kuksa::Client::new(uri);
let mut client = KuksaClient::new(uri.clone());
let actuation_client = KuksaClient::new(uri);

client = fetch_metadata(
client,
provider_config.signals.iter().map(|s| s as &str).collect(),
provider_config.signals.clone(),
&metadata_store,
)
.await;
Expand Down
8 changes: 3 additions & 5 deletions zenoh-kuksa-provider/src/provider_config.rs
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Expand Up @@ -11,18 +11,16 @@
* SPDX-License-Identifier: Apache-2.0
********************************************************************************/

use std::collections::HashSet;

use serde::{Deserialize, Serialize};

#[derive(Debug, Serialize, Deserialize)]
#[derive(Debug, Serialize, Deserialize, Clone)]
pub struct ProviderConfig {
pub zenoh_config: zenoh::config::Config,
pub kuksa: KuksaConfig,
pub signals: HashSet<String>,
pub signals: Vec<String>,
}

#[derive(Debug, Default, Serialize, Deserialize)]
#[derive(Debug, Default, Serialize, Deserialize, Clone)]
pub struct KuksaConfig {
pub databroker_url: String,
}
Expand Down
49 changes: 26 additions & 23 deletions zenoh-kuksa-provider/src/utils/kuksa_utils.rs
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Expand Up @@ -11,8 +11,10 @@
* SPDX-License-Identifier: Apache-2.0
********************************************************************************/

use kuksa::proto::v1::{datapoint::Value, DataType, Datapoint};
use kuksa::Client;
use kuksa_rust_sdk::kuksa::common::ClientTraitV1;
use kuksa_rust_sdk::v1_proto::datapoint::Value;
use kuksa_rust_sdk::v1_proto::{DataEntry, DataType, Datapoint};
use kuksa_rust_sdk::kuksa::val::v1::KuksaClient;
use log::warn;
use prost_types::Timestamp;
use std::collections::HashMap;
Expand All @@ -23,19 +25,20 @@ use zenoh::sample::Sample;
use crate::utils::{metadata_store::MetadataInfo, zenoh_utils::zbytes_to_string};

pub async fn fetch_metadata(
mut kuksa_client: Client,
paths: Vec<&str>,
mut kuksa_client: KuksaClient,
paths: Vec<String>,
metadata_store: &super::metadata_store::MetadataStore,
) -> Client {

) -> KuksaClient {
let mut store = metadata_store.lock().await;

let data_entries: Vec<kuksa::DataEntry> = kuksa_client.get_metadata(paths).await.unwrap();
let data_entries: Vec<DataEntry> = kuksa_client.get_metadata(paths).await.unwrap();

for entry in data_entries {
store.insert(
entry.path,
MetadataInfo {
data_type: DataType::from_i32(entry.metadata.unwrap().data_type)
data_type: DataType::try_from(entry.metadata.unwrap().data_type)
.unwrap_or(DataType::Unspecified),
},
);
Expand Down Expand Up @@ -99,22 +102,22 @@ pub fn datapoint_to_string(datapoint: &Datapoint) -> Option<String> {
.value
.as_ref()
.map(|value| match value {
kuksa::proto::v1::datapoint::Value::String(v) => v.clone(),
kuksa::proto::v1::datapoint::Value::Bool(v) => v.to_string(),
kuksa::proto::v1::datapoint::Value::Int32(v) => v.to_string(),
kuksa::proto::v1::datapoint::Value::Int64(v) => v.to_string(),
kuksa::proto::v1::datapoint::Value::Uint32(v) => v.to_string(),
kuksa::proto::v1::datapoint::Value::Uint64(v) => v.to_string(),
kuksa::proto::v1::datapoint::Value::Float(v) => v.to_string(),
kuksa::proto::v1::datapoint::Value::Double(v) => v.to_string(),
kuksa::proto::v1::datapoint::Value::StringArray(v) => format!("{:?}", v.values),
kuksa::proto::v1::datapoint::Value::BoolArray(v) => format!("{:?}", v.values),
kuksa::proto::v1::datapoint::Value::Int32Array(v) => format!("{:?}", v.values),
kuksa::proto::v1::datapoint::Value::Int64Array(v) => format!("{:?}", v.values),
kuksa::proto::v1::datapoint::Value::Uint32Array(v) => format!("{:?}", v.values),
kuksa::proto::v1::datapoint::Value::Uint64Array(v) => format!("{:?}", v.values),
kuksa::proto::v1::datapoint::Value::FloatArray(v) => format!("{:?}", v.values),
kuksa::proto::v1::datapoint::Value::DoubleArray(v) => format!("{:?}", v.values),
kuksa_rust_sdk::v1_proto::datapoint::Value::String(v) => v.clone(),
kuksa_rust_sdk::v1_proto::datapoint::Value::Bool(v) => v.to_string(),
kuksa_rust_sdk::v1_proto::datapoint::Value::Int32(v) => v.to_string(),
kuksa_rust_sdk::v1_proto::datapoint::Value::Int64(v) => v.to_string(),
kuksa_rust_sdk::v1_proto::datapoint::Value::Uint32(v) => v.to_string(),
kuksa_rust_sdk::v1_proto::datapoint::Value::Uint64(v) => v.to_string(),
kuksa_rust_sdk::v1_proto::datapoint::Value::Float(v) => v.to_string(),
kuksa_rust_sdk::v1_proto::datapoint::Value::Double(v) => v.to_string(),
kuksa_rust_sdk::v1_proto::datapoint::Value::StringArray(v) => format!("{:?}", v.values),
kuksa_rust_sdk::v1_proto::datapoint::Value::BoolArray(v) => format!("{:?}", v.values),
kuksa_rust_sdk::v1_proto::datapoint::Value::Int32Array(v) => format!("{:?}", v.values),
kuksa_rust_sdk::v1_proto::datapoint::Value::Int64Array(v) => format!("{:?}", v.values),
kuksa_rust_sdk::v1_proto::datapoint::Value::Uint32Array(v) => format!("{:?}", v.values),
kuksa_rust_sdk::v1_proto::datapoint::Value::Uint64Array(v) => format!("{:?}", v.values),
kuksa_rust_sdk::v1_proto::datapoint::Value::FloatArray(v) => format!("{:?}", v.values),
kuksa_rust_sdk::v1_proto::datapoint::Value::DoubleArray(v) => format!("{:?}", v.values),
})
.or_else(|| {
warn!("Datapoint has no value");
Expand Down
3 changes: 1 addition & 2 deletions zenoh-kuksa-provider/src/utils/metadata_store.rs
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Expand Up @@ -13,10 +13,9 @@

use std::collections::HashMap;
use std::sync::Arc;
use kuksa_rust_sdk::v1_proto::DataType;
use tokio::sync::Mutex;

use kuksa::proto::v1::DataType;

#[derive(Debug, Clone, Copy)]
pub struct MetadataInfo {
pub data_type: DataType,
Expand Down