eclipse-zenoh · TanJunKiat · Oct 25, 2024 · Oct 25, 2024
diff --git a/examples/rust/Cargo.toml b/examples/rust/Cargo.toml
@@ -3,12 +3,15 @@ name = "rust_examples"
 version = "0.1.0"
 edition = "2021"
 
+[features]
+unstable = ["zenoh/unstable"]
+
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 [workspace]
 [dependencies]
 async-std = { version = "1.12.0" }
 futures = { version = "0.3.28" }
-zenoh = { version = "0.10.1-rc" }
+zenoh = { version = "1.0.0" }
 clap = { version = "4.4.11", features = ["derive"] }
 env_logger = { version = "0.10.0" }
 serde = {version = "1" }

diff --git a/examples/rust/src/bin/add_two_ints_client.rs b/examples/rust/src/bin/add_two_ints_client.rs
@@ -12,10 +12,7 @@
 //   ZettaScale Zenoh Team, <[email protected]>
 //
 use cdr::{CdrLe, Infinite};
-use clap::{App, Arg};
 use serde::{Deserialize, Serialize};
-use zenoh::config::Config;
-use zenoh::prelude::r#async::*;
 
 #[derive(Serialize, PartialEq, Debug)]
 struct AddTwoIntsRequest {
@@ -28,26 +25,19 @@ struct AddTwoIntsResponse {
     sum: i64,
 }
 
-#[async_std::main]
+#[tokio::main]
 async fn main() {
     env_logger::init();
 
-    let config = parse_args();
-
-    let session = zenoh::open(config).res().await.unwrap();
+    let session = zenoh::open(zenoh::Config::default()).await.unwrap();
 
     let req = AddTwoIntsRequest { a: 2, b: 3 };
     let buf = cdr::serialize::<_, _, CdrLe>(&req, Infinite).unwrap();
-    let replies = session
-        .get("add_two_ints")
-        .with_value(buf)
-        .res()
-        .await
-        .unwrap();
+    let replies = session.get("add_two_ints").payload(buf).await.unwrap();
 
     while let Ok(reply) = replies.recv_async().await {
         match cdr::deserialize_from::<_, AddTwoIntsResponse, _>(
-            reply.sample.unwrap().payload.reader(),
+            reply.result().unwrap().payload().reader(),
             cdr::size::Infinite,
         ) {
             Ok(res) => {
@@ -57,19 +47,3 @@ async fn main() {
         }
     }
 }
-
-fn parse_args() -> Config {
-    let args = App::new("zenoh sub example")
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .get_matches();
-
-    let config = if let Some(conf_file) = args.value_of("config") {
-        Config::from_file(conf_file).unwrap()
-    } else {
-        Config::default()
-    };
-
-    config
-}
diff --git a/examples/rust/src/bin/add_two_ints_server.rs b/examples/rust/src/bin/add_two_ints_server.rs
@@ -0,0 +1,57 @@
+//
+// Copyright (c) 2023 ZettaScale Technology
+//
+// This program and the accompanying materials are made available under the
+// terms of the Eclipse Public License 2.0 which is available at
+// http://www.eclipse.org/legal/epl-2.0, or the Apache License, Version 2.0
+// which is available at https://www.apache.org/licenses/LICENSE-2.0.
+//
+// SPDX-License-Identifier: EPL-2.0 OR Apache-2.0
+//
+// Contributors:
+//   ZettaScale Zenoh Team, <[email protected]>
+//
+use cdr::{CdrLe, Infinite};
+use serde::{Deserialize, Serialize};
+
+#[derive(Deserialize, PartialEq, Debug)]
+struct AddTwoIntsRequest {
+    a: i64,
+    b: i64,
+}
+
+#[derive(Serialize, PartialEq, Debug)]
+struct AddTwoIntsResponse {
+    sum: i64,
+}
+
+#[tokio::main]
+async fn main() {
+    env_logger::init();
+
+    let session = zenoh::open(zenoh::Config::default()).await.unwrap();
+
+    let liveliness = session.liveliness().declare_token("@/f2f0382de97ce1ddc0e6738833feb2b9/@ros2_lv/SS/add_two_ints/example_interfaces§srv§AddTwoInts").await.unwrap();
+
+    let queryable = session
+        .declare_queryable("add_two_ints")
+        .complete(true)
+        .await
+        .unwrap();
+
+    while let Ok(query) = queryable.recv_async().await {
+        match cdr::deserialize_from::<_, AddTwoIntsRequest, _>(
+            query.payload().unwrap().reader(),
+            cdr::size::Infinite,
+        ) {
+            Ok(res) => {
+                let reply = AddTwoIntsResponse { sum: res.a + res.b };
+                println!("Result of add_two_ints: {}", reply.sum);
+                let payload = cdr::serialize::<_, _, CdrLe>(&reply, Infinite).unwrap();
+                let key_expr = "add_two_ints";
+                query.reply(key_expr, payload).await.unwrap();
+            }
+            Err(e) => log::warn!("Error decoding message: {}", e),
+        }
+    }
+}
diff --git a/examples/rust/src/bin/fibonnacci_action_client.rs b/examples/rust/src/bin/fibonnacci_action_client.rs
@@ -12,10 +12,7 @@
 //   ZettaScale Zenoh Team, <[email protected]>
 //
 use cdr::{CdrLe, Infinite};
-use clap::{App, Arg};
 use serde::{Deserialize, Serialize};
-use zenoh::config::Config;
-use zenoh::prelude::r#async::*;
 
 #[derive(Deserialize, PartialEq, Debug)]
 struct Time {
@@ -52,19 +49,17 @@ struct FibonacciFeedback {
     partial_sequence: Vec<i32>,
 }
 
-#[async_std::main]
+#[tokio::main]
 async fn main() {
     env_logger::init();
 
-    let config = parse_args();
-
-    let session = zenoh::open(config).res().await.unwrap();
+    let session = zenoh::open(zenoh::Config::default()).await.unwrap();
 
     let _subscriber = session
         .declare_subscriber("fibonacci/_action/feedback")
         .callback(|sample| {
             match cdr::deserialize_from::<_, FibonacciFeedback, _>(
-                sample.value.payload.reader(),
+                sample.payload().reader(),
                 cdr::size::Infinite,
             ) {
                 Ok(msg) => {
@@ -76,7 +71,6 @@ async fn main() {
                 Err(e) => log::warn!("Error decoding message: {}", e),
             };
         })
-        .res()
         .await
         .unwrap();
 
@@ -90,14 +84,13 @@ async fn main() {
     println!("Sending goal");
     let replies = session
         .get("fibonacci/_action/send_goal")
-        .with_value(buf)
-        .res()
+        .payload(buf)
         .await
         .unwrap();
 
     while let Ok(reply) = replies.recv_async().await {
         match cdr::deserialize_from::<_, FibonacciSendGoalResponse, _>(
-            reply.sample.unwrap().payload.reader(),
+            reply.result().unwrap().payload().reader(),
             cdr::size::Infinite,
         ) {
             Ok(res) => {
@@ -116,13 +109,12 @@ async fn main() {
     let buf = cdr::serialize::<_, _, CdrLe>(&req, Infinite).unwrap();
     let replies = session
         .get("fibonacci/_action/get_result")
-        .with_value(buf)
-        .res()
+        .payload(buf)
         .await
         .unwrap();
     while let Ok(reply) = replies.recv_async().await {
         match cdr::deserialize_from::<_, FibonacciGetResultResponse, _>(
-            reply.sample.unwrap().payload.reader(),
+            reply.result().unwrap().payload().reader(),
             cdr::size::Infinite,
         ) {
             Ok(res) => {
@@ -132,19 +124,3 @@ async fn main() {
         }
     }
 }
-
-fn parse_args() -> Config {
-    let args = App::new("zenoh sub example")
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .get_matches();
-
-    let config = if let Some(conf_file) = args.value_of("config") {
-        Config::from_file(conf_file).unwrap()
-    } else {
-        Config::default()
-    };
-
-    config
-}
diff --git a/examples/rust/src/bin/listener.rs b/examples/rust/src/bin/listener.rs
@@ -11,52 +11,29 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <[email protected]>
 //
-use clap::{App, Arg};
 use serde::Deserialize;
-use zenoh::config::Config;
-use zenoh::prelude::r#async::*;
 
 #[derive(Deserialize, PartialEq, Debug)]
 struct Message {
     data: String,
 }
-#[async_std::main]
+#[tokio::main]
 async fn main() {
     // Initiate logging
     env_logger::init();
 
-    let config = parse_args();
-
     println!("Opening session...");
-    let session = zenoh::open(config).res().await.unwrap();
+    let session = zenoh::open(zenoh::Config::default()).await.unwrap();
 
-    let subscriber = session.declare_subscriber("chatter").res().await.unwrap();
+    let subscriber = session.declare_subscriber("chatter").await.unwrap();
 
     while let Ok(sample) = subscriber.recv_async().await {
-        match cdr::deserialize_from::<_, Message, _>(
-            sample.value.payload.reader(),
-            cdr::size::Infinite,
-        ) {
+        match cdr::deserialize_from::<_, Message, _>(sample.payload().reader(), cdr::size::Infinite)
+        {
             Ok(msg) => {
                 println!("I heard: [{}]", msg.data);
             }
             Err(e) => log::warn!("Error decoding message: {}", e),
         }
     }
 }
-
-fn parse_args() -> Config {
-    let args = App::new("zenoh sub example")
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .get_matches();
-
-    let config = if let Some(conf_file) = args.value_of("config") {
-        Config::from_file(conf_file).unwrap()
-    } else {
-        Config::default()
-    };
-
-    config
-}
diff --git a/examples/rust/src/bin/talker.rs b/examples/rust/src/bin/talker.rs
@@ -11,54 +11,33 @@
 // Contributors:
 //   ZettaScale Zenoh Team, <[email protected]>
 //
-use async_std::task::sleep;
 use cdr::{CdrLe, Infinite};
-use clap::{App, Arg};
 use serde::Serialize;
 use std::time::Duration;
-use zenoh::config::Config;
-use zenoh::prelude::r#async::*;
+use tokio::time::sleep;
 
 #[derive(Serialize, PartialEq, Debug)]
 struct Message {
     data: String,
 }
 
-#[async_std::main]
+#[tokio::main]
 async fn main() {
     // Initiate logging
     env_logger::init();
 
-    let config = parse_args();
-
     println!("Opening session...");
-    let session = zenoh::open(config).res().await.unwrap();
+    let session = zenoh::open(zenoh::Config::default()).await.unwrap();
 
-    let publisher = session.declare_publisher("chatter").res().await.unwrap();
+    let publisher = session.declare_publisher("chatter").await.unwrap();
 
-    for idx in 0..u32::MAX {
+    for idx in 1..u32::MAX {
         sleep(Duration::from_secs(1)).await;
         let message = Message {
             data: format!("Hello World:{idx:4}"),
         };
         let buf = cdr::serialize::<_, _, CdrLe>(&message, Infinite).unwrap();
         println!("Publishing: '{}')...", message.data);
-        publisher.put(buf).res().await.unwrap();
+        publisher.put(buf).await.unwrap();
     }
 }
-
-fn parse_args() -> Config {
-    let args = App::new("zenoh talker example")
-        .arg(Arg::from_usage(
-            "-c, --config=[FILE]      'A configuration file.'",
-        ))
-        .get_matches();
-
-    let config = if let Some(conf_file) = args.value_of("config") {
-        Config::from_file(conf_file).unwrap()
-    } else {
-        Config::default()
-    };
-
-    config
-}