erdos 0.4.0

ERDOS is a platform for developing self-driving cars and robotics applications.
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151

use std::{
    marker::PhantomData,
    sync::{Arc, Mutex},
};

use crate::{
    node::operator_executors::OperatorExecutorT,
    scheduler::channel_manager::{ChannelManager, StreamEndpoints, StreamEndpointsT},
    OperatorConfig, OperatorId,
};

// Private submodules
mod abstract_graph;
mod job_graph;

// Public submodules
pub(crate) mod default_graph;

// Crate-wide exports
pub(crate) use abstract_graph::AbstractGraph;
pub(crate) use job_graph::JobGraph;
use serde::Deserialize;

use super::{stream::StreamId, Data};

/// Trait for functions that set up operator execution.
pub(crate) trait OperatorRunner:
    'static + (Fn(Arc<Mutex<ChannelManager>>) -> Box<dyn OperatorExecutorT>) + Sync + Send
{
    fn box_clone(&self) -> Box<dyn OperatorRunner>;
}

impl<
        T: 'static
            + (Fn(Arc<Mutex<ChannelManager>>) -> Box<dyn OperatorExecutorT>)
            + Sync
            + Send
            + Clone,
    > OperatorRunner for T
{
    fn box_clone(&self) -> Box<dyn OperatorRunner> {
        Box::new(self.clone())
    }
}

/// Trait for functions used to set up ingest and extract streams.
pub(crate) trait StreamSetupHook:
    'static + Fn(Arc<Mutex<ChannelManager>>) + Sync + Send
{
    fn box_clone(&self) -> Box<dyn StreamSetupHook>;
}

impl<T: 'static + Fn(Arc<Mutex<ChannelManager>>) + Sync + Send + Clone> StreamSetupHook for T {
    fn box_clone(&self) -> Box<dyn StreamSetupHook> {
        Box::new(self.clone())
    }
}

/// Specifies the type of job.
#[derive(Clone, Copy)]
pub(crate) enum Job {
    /// An operator in the dataflow.
    Operator(OperatorId),
    /// The driver which may interact with the dataflow.
    Driver,
}

/// A typed representation of a stream used to setup
/// and configure the dataflow graphs.
#[derive(Clone)]
pub(crate) struct AbstractStream<D>
where
    for<'a> D: Data + Deserialize<'a>,
{
    id: StreamId,
    name: String,
    phantom: PhantomData<D>,
}

impl<D> AbstractStream<D>
where
    for<'a> D: Data + Deserialize<'a>,
{
    fn new(id: StreamId, name: String) -> Self {
        Self {
            id,
            name,
            phantom: PhantomData,
        }
    }
}

/// A trait implemented over [`AbstractStream`]s used to preserve
/// typing while processing sets of streams.
pub(crate) trait AbstractStreamT: Send + Sync {
    fn id(&self) -> StreamId;
    fn name(&self) -> String;
    fn set_name(&mut self, name: String);
    fn box_clone(&self) -> Box<dyn AbstractStreamT>;
    fn to_stream_endpoints_t(&self) -> Box<dyn StreamEndpointsT>;
}

impl<D> AbstractStreamT for AbstractStream<D>
where
    for<'a> D: Data + Deserialize<'a>,
{
    fn id(&self) -> StreamId {
        self.id
    }

    fn name(&self) -> String {
        self.name.clone()
    }

    fn set_name(&mut self, name: String) {
        self.name = name;
    }

    fn box_clone(&self) -> Box<dyn AbstractStreamT> {
        Box::new(self.clone())
    }

    fn to_stream_endpoints_t(&self) -> Box<dyn StreamEndpointsT> {
        Box::new(StreamEndpoints::<D>::new(self.id))
    }
}

/// The representation of the operator used to set up and configure the dataflow.
pub(crate) struct AbstractOperator {
    pub id: OperatorId,
    /// Function that executes the operator.
    pub runner: Box<dyn OperatorRunner>,
    /// Operator configuration.
    pub config: OperatorConfig,
    /// Streams on which the operator reads.
    pub read_streams: Vec<StreamId>,
    /// Streams on which the operator writes.
    pub write_streams: Vec<StreamId>,
}

impl Clone for AbstractOperator {
    fn clone(&self) -> Self {
        Self {
            id: self.id,
            runner: self.runner.box_clone(),
            config: self.config.clone(),
            read_streams: self.read_streams.clone(),
            write_streams: self.write_streams.clone(),
        }
    }
}