Merge pull request #203 from dora-rs/fix-zenoh

Update zenoh to remove git dependencies

README.md

@@ -96,7 +96,7 @@ You need to add the created operators/nodes to your dataflow YAML file.
 ```yaml
 communication:
   zenoh:
-    prefix: /abc_project
+    prefix: abc_project
 
 nodes:
   - id: op_1

binaries/cli/src/template/c/dataflow-template.yml

@@ -1,6 +1,6 @@
 communication:
   zenoh:
-    prefix: /___name___
+    prefix: ___name___
 
 nodes:
   - id: runtime-node_1

binaries/cli/src/template/cxx/dataflow-template.yml

@@ -1,6 +1,6 @@
 communication:
   zenoh:
-    prefix: /___name___
+    prefix: ___name___
 
 nodes:
   - id: runtime-node_1

binaries/cli/src/template/python/dataflow-template.yml

@@ -1,6 +1,6 @@
 communication:
   zenoh:
-    prefix: /___name___
+    prefix: ___name___
 
 nodes:
   - id: op_1

binaries/cli/src/template/rust/dataflow-template.yml

@@ -1,6 +1,6 @@
 communication:
   zenoh:
-    prefix: /___name___
+    prefix: ___name___
 
 nodes:
   - id: runtime-node_1

binaries/coordinator/Cargo.toml

@@ -27,7 +27,7 @@ rand = "0.8.5"
 dora-core = { workspace = true }
 tracing = "0.1.36"
 futures-concurrency = "7.1.0"
-zenoh = { git = "https://github.com/eclipse-zenoh/zenoh.git", rev = "79a136e4fd90b11ff5d775ced981af53c4f1071b" }
+zenoh = "0.7.0-rc"
 serde_json = "1.0.86"
 dora-download = { path = "../../libraries/extensions/download" }
 dora-tracing = { workspace = true, optional = true }

docs/src/dataflow-config.md

@@ -112,7 +112,7 @@ The mandatory `communication` key specifies how dora nodes and operators should
   ```yaml
   communication:
     zenoh:
-      prefix: /some-unique-prefix
+      prefix: some-unique-prefix
   ```
 
   The specified `prefix` is added to all pub/sub topics. It is useful for filtering messages (e.g. in a logger) when other applications use `zenoh` in parallel. Dora will extend the given prefix with a newly generated UUID on each run, to ensure that multiple instances of the same dataflow run concurrently without interfering with each other.

examples/benchmark/dataflow.yml

@@ -1,6 +1,6 @@
 communication:
   zenoh:
-    prefix: /benchmark-example
+    prefix: benchmark-example
 
 nodes:
   - id: rust-node

examples/c++-dataflow/dataflow.yml

@@ -1,6 +1,6 @@
 communication:
   zenoh:
-    prefix: /example-cxx-dataflow
+    prefix: example-cxx-dataflow
 
 nodes:
   - id: cxx-node-rust-api

examples/c-dataflow/dataflow.yml

@@ -1,6 +1,6 @@
 communication:
   zenoh:
-    prefix: /example-c-dataflow
+    prefix: example-c-dataflow
 
 nodes:
   - id: c_node

examples/python-dataflow/dataflow.yml

@@ -1,6 +1,6 @@
 communication:
   zenoh:
-    prefix: /example-python-dataflow
+    prefix: example-python-dataflow
 
 nodes:
   - id: webcam

examples/python-dataflow/dataflow_without_webcam.yml

@@ -1,6 +1,6 @@
 communication:
   zenoh:
-    prefix: /example-python-no-webcam-dataflow
+    prefix: example-python-no-webcam-dataflow
 
 nodes:
   - id: no_webcam

examples/python-operator-dataflow/dataflow.yml

@@ -1,6 +1,6 @@
 communication:
   zenoh:
-    prefix: /example-python-dataflow
+    prefix: example-python-dataflow
 
 nodes:
   - id: webcam

examples/python-operator-dataflow/dataflow_without_webcam.yml

@@ -1,6 +1,6 @@
 communication:
   zenoh:
-    prefix: /example-python-no-webcam-dataflow
+    prefix: example-python-no-webcam-dataflow
 
 nodes:
   - id: no_webcam

examples/rust-dataflow-url/dataflow.yml

@@ -1,6 +1,6 @@
 communication:
   zenoh:
-    prefix: /example-rust-dataflow
+    prefix: example-rust-dataflow
 
 nodes:
   - id: rust-node

examples/rust-dataflow/dataflow.yml

@@ -1,6 +1,6 @@
 communication:
   zenoh:
-    prefix: /example-rust-dataflow
+    prefix: example-rust-dataflow
 
 daemon_config: Tcp # or Shmem
 

libraries/communication-layer/pub-sub/Cargo.toml

@@ -5,12 +5,12 @@ edition = "2021"
 
 [features]
 default = ["zenoh"]
-zenoh = ["dep:zenoh", "dep:zenoh-config"]
+zenoh = ["dep:zenoh"]
 
 [dependencies]
+zenoh = { version = "0.7.0-rc", optional = true, features = ["transport_tcp"] }
 eyre = "0.6.8"
-zenoh = { git = "https://github.com/eclipse-zenoh/zenoh.git", rev = "79a136e4fd90b11ff5d775ced981af53c4f1071b", optional = true }
-zenoh-config = { git = "https://github.com/eclipse-zenoh/zenoh.git", rev = "79a136e4fd90b11ff5d775ced981af53c4f1071b", optional = true }
+flume = "0.10"
 
 [package.metadata.docs.rs]
 all-features = true

libraries/communication-layer/pub-sub/src/zenoh.rs

@@ -1,12 +1,10 @@
 //! Provides [`ZenohCommunicationLayer`] to communicate over `zenoh`.
 
-pub use zenoh_config;
-
 use super::{CommunicationLayer, Publisher, Subscriber};
 use crate::{BoxError, ReceivedSample};
 use std::{borrow::Cow, sync::Arc, time::Duration};
 use zenoh::{
-    prelude::{EntityFactory, Priority, Receiver as _, SplitBuffer, ZFuture},
+    prelude::{sync::SyncResolve, Config, Priority, SessionDeclarations, SplitBuffer},
     publication::CongestionControl,
 };
 
@@ -22,9 +20,9 @@ impl ZenohCommunicationLayer {
     /// The `prefix` is added to all topic names when using the [`publisher`][Self::publisher]
     /// and [`subscriber`][Self::subscribe] methods. Pass an empty string if no prefix is
     /// desired.
-    pub fn init(config: zenoh_config::Config, prefix: String) -> Result<Self, BoxError> {
+    pub fn init(config: Config, prefix: String) -> Result<Self, BoxError> {
         let zenoh = ::zenoh::open(config)
-            .wait()
+            .res_sync()
             .map_err(BoxError::from)?
             .into_arc();
         Ok(Self {
@@ -42,10 +40,10 @@ impl CommunicationLayer for ZenohCommunicationLayer {
     fn publisher(&mut self, topic: &str) -> Result<Box<dyn Publisher>, BoxError> {
         let publisher = self
             .zenoh
-            .publish(self.prefixed(topic))
+            .declare_publisher(self.prefixed(topic))
             .congestion_control(CongestionControl::Block)
             .priority(Priority::RealTime)
-            .wait()
+            .res_sync()
             .map_err(BoxError::from)?;
 
         Ok(Box::new(ZenohPublisher { publisher }))
@@ -54,9 +52,9 @@ impl CommunicationLayer for ZenohCommunicationLayer {
     fn subscribe(&mut self, topic: &str) -> Result<Box<dyn Subscriber>, BoxError> {
         let subscriber = self
             .zenoh
-            .subscribe(self.prefixed(topic))
+            .declare_subscriber(self.prefixed(topic))
             .reliable()
-            .wait()
+            .res_sync()
             .map_err(BoxError::from)?;
 
         Ok(Box::new(ZenohReceiver(subscriber)))
@@ -104,11 +102,16 @@ impl<'a> crate::PublishSample<'a> for ZenohPublishSample {
     }
 
     fn publish(self: Box<Self>) -> Result<(), BoxError> {
-        self.publisher.send(self.sample).map_err(BoxError::from)
+        self.publisher
+            .put(self.sample)
+            .res_sync()
+            .map_err(BoxError::from)
     }
 }
 
-struct ZenohReceiver(zenoh::subscriber::Subscriber<'static>);
+struct ZenohReceiver(
+    zenoh::subscriber::Subscriber<'static, flume::Receiver<zenoh::sample::Sample>>,
+);
 
 impl Subscriber for ZenohReceiver {
     fn recv(&mut self) -> Result<Option<Box<dyn ReceivedSample>>, BoxError> {
@@ -122,7 +125,7 @@ impl Subscriber for ZenohReceiver {
 }
 
 struct ZenohReceivedSample {
-    sample: zenoh::buf::ZBuf,
+    sample: zenoh::buffers::ZBuf,
 }
 
 impl ReceivedSample for ZenohReceivedSample {

libraries/core/Cargo.toml

@@ -11,9 +11,9 @@ eyre = "0.6.8"
 serde = { version = "1.0.136", features = ["derive"] }
 serde_yaml = "0.9.11"
 once_cell = "1.13.0"
-zenoh-config = { git = "https://github.com/eclipse-zenoh/zenoh.git", rev = "79a136e4fd90b11ff5d775ced981af53c4f1071b" }
 which = "4.3.0"
 uuid = { version = "1.2.1", features = ["serde"] }
 dora-message = { path = "../message" }
 tracing = "0.1"
 serde-with-expand-env = "1.1.0"
+zenoh = "0.7.0-rc"

libraries/core/src/config.rs

@@ -254,7 +254,7 @@ pub struct NodeRunConfig {
 pub enum CommunicationConfig {
     Zenoh {
         #[serde(default)]
-        config: Box<zenoh_config::Config>,
+        config: Box<zenoh::prelude::Config>,
         prefix: String,
     },
 }

libraries/extensions/zenoh-logger/Cargo.toml

@@ -7,5 +7,4 @@ license = "Apache-2.0"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-zenoh = { git = "https://github.com/eclipse-zenoh/zenoh.git", rev = "79a136e4fd90b11ff5d775ced981af53c4f1071b" }
-zenoh-config = { git = "https://github.com/eclipse-zenoh/zenoh.git", rev = "79a136e4fd90b11ff5d775ced981af53c4f1071b" }
+zenoh = "0.7.0-rc"

libraries/extensions/zenoh-logger/src/main.rs

@@ -1,11 +1,15 @@
-use zenoh::prelude::{Receiver, ZFuture};
+use zenoh::prelude::{sync::SyncResolve, Config};
 
 fn main() {
-    let zenoh = zenoh::open(zenoh_config::Config::default()).wait().unwrap();
-    let mut sub = zenoh.subscribe("/**").reliable().wait().unwrap();
+    let zenoh = zenoh::open(Config::default()).res_sync().unwrap();
+    let sub = zenoh
+        .declare_subscriber("/**")
+        .reliable()
+        .res_sync()
+        .unwrap();
 
     loop {
-        let msg = sub.receiver().recv().unwrap();
+        let msg = sub.recv().unwrap();
         println!("{}", msg.key_expr);
     }
 }