Callbacks, rins sub.

scripts/run-sub-callback.sh

@@ -0,0 +1 @@
+ZENOH_CONFIG=config/peer.yaml ./target/debug/sub_callback

src/bin/pub.rs

@@ -1,22 +1,55 @@
+use anyhow::anyhow;
+use anyhow::Result;
 use std::time::Duration;
 
-#[tokio::main]
+fn build_message1() -> Result<Vec<u8>> {
-async fn main() {
-    let config = zenoh::Config::from_env().unwrap();
-    let session = zenoh::open(config).await.unwrap();
-    let publisher = session.declare_publisher("test").await.unwrap();
-
-    loop {
     let mut message = zenoh_exp::Message::default();
     message.sender = "pub".to_string();
     message.message = "Hi sub!".to_string();
     let mut buff: Vec<u8> = Vec::new();
-        let _ = ciborium::into_writer(&message, &mut buff).unwrap();
+    let _ = ciborium::into_writer(&message, &mut buff)?;
-        publisher
+
-            .put(&buff)
+    return Ok(buff);
-            .encoding("application/cbor;zenoh_exp::Mesage")
+}
+
+fn build_message2() -> Result<Vec<u8>> {
+    let mut message = zenoh_exp::Message::default();
+    message.sender = "pub".to_string();
+    message.message = "yo sub!".to_string();
+    let mut buff: Vec<u8> = Vec::new();
+    let _ = ciborium::into_writer(&message, &mut buff)?;
+
+    return Ok(buff);
+}
+
+#[tokio::main]
+async fn main() -> Result<()> {
+    let config = zenoh::Config::from_env().map_err(|e| anyhow!(e))?;
+    let session = zenoh::open(config).await.map_err(|e| anyhow!(e))?;
+    let test_publisher = session
+        .declare_publisher("test")
         .await
-            .unwrap();
+        .map_err(|e| anyhow!(e))?;
-        tokio::time::sleep(Duration::from_secs(1)).await;
+    let yo_publisher = session
+        .declare_publisher("yo")
+        .await
+        .map_err(|e| anyhow!(e))?;
+
+    loop {
+        let buff = build_message1()?;
+        test_publisher
+            .put(&buff)
+            .encoding("application/cbor;zenoh_exp::Message")
+            .await
+            .map_err(|e| anyhow!(e))?;
+        tokio::time::sleep(Duration::from_secs_f32(0.5)).await;
+
+        let buff = build_message2()?;
+        yo_publisher
+            .put(&buff)
+            .encoding("application/cbor;zenoh_exp::Message")
+            .await
+            .map_err(|e| anyhow!(e))?;
+        tokio::time::sleep(Duration::from_secs_f32(0.5)).await;
     }
 }

src/bin/sub.rs

@@ -1,20 +1,35 @@
-#[tokio::main]
+use anyhow::{anyhow, Result};
-async fn main() {
-    let config = zenoh::Config::from_env().unwrap();
-    let session = zenoh::open(config).await.unwrap();
-    let subscriber = session.declare_subscriber("test").await.unwrap();
 
+#[tokio::main]
+async fn main() -> Result<()> {
+    let config = zenoh::Config::from_env().map_err(|e| anyhow!(e))?;
+    let session = zenoh::open(config).await.map_err(|e| anyhow!(e))?;
+
+    let test_session = session.clone();
+    tokio::spawn(async move {
+        let subscriber = test_session
+            .declare_subscriber("test")
+            .with(zenoh::handlers::RingChannel::new(1))
+            .await
+            .unwrap();
         loop {
             let sample = subscriber.recv_async().await.unwrap();
-        let payload = sample.payload();
+            zenoh_exp::print_message(&sample);
-        let bytes: Vec<u8> = payload.into();
-        let message: zenoh_exp::Message = ciborium::from_reader(&bytes[..]).unwrap();
-
-        println!(
-            "Encoding: {} Key: {} Value: {:?}",
-            sample.encoding().to_string(),
-            sample.key_expr().as_str(),
-            message
-        );
         }
+    });
+
+    let yo_session = session.clone();
+    tokio::spawn(async move {
+        let subscriber = yo_session
+            .declare_subscriber("yo")
+            .with(zenoh::handlers::RingChannel::new(1))
+            .await
+            .unwrap();
+        loop {
+            let sample = subscriber.recv_async().await.unwrap();
+            zenoh_exp::print_message(&sample);
+        }
+    });
+
+    loop {}
 }

src/bin/sub_callback.rs

@@ -0,0 +1,25 @@
+use anyhow::Result;
+use zenoh_exp::print_message;
+
+#[tokio::main]
+async fn main() -> Result<()> {
+    let config = zenoh::Config::from_env().unwrap();
+    let session = zenoh::open(config).await.unwrap();
+
+    let test_session = session.clone();
+    tokio::spawn(async move {
+        let _ = test_session
+            .declare_subscriber("test")
+            .callback(|sample| print_message(&sample))
+            .await;
+    });
+    let yo_session = session.clone();
+    tokio::spawn(async move {
+        let _ = yo_session
+            .declare_subscriber("yo")
+            .callback(|sample| print_message(&sample))
+            .await;
+    });
+
+    loop {}
+}

src/lib.rs

@@ -1,7 +1,7 @@
 use serde::{Deserialize, Serialize};
 use std::string::String;
 
-// A request for a plan.
+// A message.
 #[derive(Serialize, Deserialize, Debug)]
 pub struct Message {
     pub sender: String,
@@ -16,3 +16,22 @@ impl Message {
         }
     }
 }
+
+// Go from a sample to a message and print it.
+pub fn print_message(sample: &zenoh::sample::Sample) {
+    let payload = sample.payload();
+    let bytes: Vec<u8> = payload.into();
+    let message: Message = ciborium::from_reader(&bytes[..]).unwrap();
+
+    println!(
+        "Encoding: {} Key: {} Value: {:?}",
+        sample.encoding().to_string(),
+        sample.key_expr().as_str(),
+        message
+    );
+}
+
+// For debug.
+pub fn print_type_of<T>(_: &T) {
+    println!("{}", std::any::type_name::<T>());
+}