agentic_robotics_core/
middleware.rs

1//! Zenoh middleware integration
2//!
3//! Provides pub/sub, RPC, and discovery with 4-6 byte wire overhead
4
5use crate::error::{Error, Result};
6use parking_lot::RwLock;
7use std::sync::Arc;
8use tracing::{debug, info};
9
10/// Zenoh session wrapper
11pub struct Zenoh {
12    _config: ZenohConfig,
13    _inner: Arc<RwLock<()>>, // Placeholder for actual Zenoh session
14}
15
16#[derive(Debug, Clone)]
17pub struct ZenohConfig {
18    pub mode: String,
19    pub connect: Vec<String>,
20    pub listen: Vec<String>,
21}
22
23impl Default for ZenohConfig {
24    fn default() -> Self {
25        Self {
26            mode: "peer".to_string(),
27            connect: vec![],
28            listen: vec!["tcp/0.0.0.0:7447".to_string()],
29        }
30    }
31}
32
33impl Zenoh {
34    /// Create a new Zenoh session
35    pub async fn new(config: ZenohConfig) -> Result<Self> {
36        info!("Initializing Zenoh middleware in {} mode", config.mode);
37
38        // In a real implementation, this would initialize Zenoh
39        // For now, we create a placeholder
40        Ok(Self {
41            _config: config,
42            _inner: Arc::new(RwLock::new(())),
43        })
44    }
45
46    /// Create Zenoh with default configuration
47    pub async fn open() -> Result<Self> {
48        Self::new(ZenohConfig::default()).await
49    }
50
51    /// Get the configuration
52    pub fn config(&self) -> &ZenohConfig {
53        &self._config
54    }
55}
56
57#[cfg(test)]
58mod tests {
59    use super::*;
60
61    #[tokio::test]
62    async fn test_zenoh_creation() {
63        let zenoh = Zenoh::open().await;
64        assert!(zenoh.is_ok());
65    }
66}
agentic_robotics_core/middleware.rs

agentic_robotics_core/
middleware.rs
