phoxal 0.4.0

Phoxal — production-oriented autonomous robot framework (engine, model, typed bus, contracts).
Documentation 
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pub const SCHEMA_NAME: &str = "phoxal-api-video/v1";
pub const SCHEMA_VERSION: u32 = 1;

use crate::bus::zenoh::{BusyResponse, TypedSchema};
use serde::{Deserialize, Serialize};

#[derive(Debug, Clone, Copy, PartialEq, Eq, Serialize, Deserialize)]
#[serde(rename_all = "snake_case")]
pub enum Quality {
    Auto,
    P144,
    P240,
    P360,
    P480,
    P720,
    P1080,
}

#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
pub struct OpenRequest {
    /// Source camera as `component_id.capability_id` (`CapabilityRef` display form).
    pub source: String,
    pub quality: Quality,
}

impl OpenRequest {
    pub fn new(source: impl Into<String>, quality: Quality) -> Self {
        Self {
            source: source.into(),
            quality,
        }
    }
}

impl TypedSchema for OpenRequest {
    const SCHEMA_NAME: &'static str = "runtime/video/open/request";
    const SCHEMA_VERSION: u32 = 1;
}

#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
pub enum OpenResponse {
    Ok {
        stream_id: String,
        format: StreamFormat,
    },
    UnknownSource,
    Unavailable(UnavailableReason),
    Busy,
}

impl TypedSchema for OpenResponse {
    const SCHEMA_NAME: &'static str = "runtime/video/open/response";
    const SCHEMA_VERSION: u32 = 1;
}

impl BusyResponse for OpenResponse {
    fn busy() -> Self {
        Self::Busy
    }
}

#[non_exhaustive]
#[derive(Debug, Clone, Copy, PartialEq, Eq, Serialize, Deserialize)]
#[serde(rename_all = "snake_case")]
pub enum UnavailableReason {
    NoCamerasAvailable,
}

#[non_exhaustive]
#[derive(Debug, Clone, Copy, PartialEq, Eq, Serialize, Deserialize)]
#[serde(rename_all = "snake_case")]
pub enum Codec {
    H264,
}

#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
pub struct StreamFormat {
    pub codec: Codec,
    pub width_px: u32,
    pub height_px: u32,
}

#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
pub enum StreamEvent {
    Opened { format: StreamFormat },
    Packet(StreamPacket),
    Reconfigured { format: StreamFormat },
    End { reason: EndReason },
}

impl TypedSchema for StreamEvent {
    const SCHEMA_NAME: &'static str = "runtime/video/stream";
    const SCHEMA_VERSION: u32 = 1;
}

#[derive(Debug, Clone, PartialEq, Eq, Serialize, Deserialize)]
pub struct StreamPacket {
    pub sequence: u64,
    pub captured_at_ns: u64,
    #[serde(with = "serde_bytes")]
    pub bytes: Vec<u8>,
}

#[derive(Debug, Clone, Copy, PartialEq, Eq, Serialize, Deserialize)]
#[serde(rename_all = "snake_case")]
pub enum EndReason {
    SourceUnavailable,
    IdleTimeout,
    RuntimeStopping,
    RejectedByPolicy,
    Released,
}

pub mod open {
    pub use crate::api::video::v1::{OpenRequest as Request, OpenResponse as Response, Quality};

    crate::bus::topic_leaf! {
        query {
            path: "runtime/video/open",
            request: Request,
            response: Response
        }
    }
}

pub mod stream {
    pub use crate::api::video::v1::{
        Codec, EndReason, StreamEvent as Event, StreamFormat as Format, StreamPacket as Packet,
    };

    crate::bus::topic_leaf! {
        pubsub(stream_id: &str) {
            path: "runtime/video/stream/{}",
            payload: Event
        }
    }
}

#[cfg(test)]
mod tests {
    use super::{OpenRequest, OpenResponse, StreamEvent};
    use crate::bus::zenoh::{BusyResponse, TypedSchema};

    #[test]
    fn schema_names_and_versions_do_not_drift() {
        assert_eq!(OpenRequest::SCHEMA_NAME, "runtime/video/open/request");
        assert_eq!(OpenRequest::SCHEMA_VERSION, 1);
        assert_eq!(OpenResponse::SCHEMA_NAME, "runtime/video/open/response");
        assert_eq!(OpenResponse::SCHEMA_VERSION, 1);
        assert_eq!(StreamEvent::SCHEMA_NAME, "runtime/video/stream");
        assert_eq!(StreamEvent::SCHEMA_VERSION, 1);
    }

    #[test]
    fn open_response_busy_uses_busy_variant() {
        assert_eq!(OpenResponse::busy(), OpenResponse::Busy);
    }

    #[test]
    fn topic_paths_are_stable() {
        assert_eq!(super::open::path(), "runtime/video/open");
        assert_eq!(
            super::stream::path("front_camera"),
            "runtime/video/stream/front_camera"
        );
    }
}

#[cfg(test)]
mod v1_version_tests {
    use super::{SCHEMA_NAME, SCHEMA_VERSION};

    #[test]
    fn api_contract_version_is_stable() {
        assert_eq!(SCHEMA_NAME, "phoxal-api-video/v1");
        assert_eq!(SCHEMA_VERSION, 1);
    }
}