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//! Node value publishing, set/execute/bulk-read queryables.
use std::sync::Arc;
use tokio::sync::watch;
use tracing::{debug, info, warn};
use viva_zenoh_api::{
BulkReadRequest, BulkReadResponse, NodeOpResponse, NodeSetRequest, NodeValueUpdate, keys,
};
use zenoh::Session;
use crate::device::DeviceOps;
/// Declare a queryable for node set operations.
pub async fn run_set_queryable<D: DeviceOps>(
session: Arc<Session>,
device: Arc<D>,
mut shutdown: watch::Receiver<bool>,
) {
let device_id = device.device_id().to_string();
let key = keys::node_set(&device_id, "*");
let queryable = match session.declare_queryable(&key).await {
Ok(q) => q,
Err(e) => {
warn!(device_id, error = %e, "failed to declare node set queryable");
return;
}
};
info!(device_id, key, "node set queryable ready");
loop {
tokio::select! {
query = queryable.recv_async() => {
match query {
Ok(query) => {
let key_expr = query.key_expr().as_str();
let node_name = keys::extract_node_name(key_expr)
.unwrap_or_default()
.to_string();
let response = if node_name.is_empty() {
NodeOpResponse {
ok: false,
error: Some("missing node name".to_string()),
}
} else {
match query.payload() {
Some(payload) => {
match serde_json::from_slice::<NodeSetRequest>(
&payload.to_bytes(),
) {
Ok(req) => {
let value_str = req.value.to_string();
// Strip quotes from string values.
let value_str = value_str.trim_matches('"');
match device.set_feature(&node_name, value_str).await {
Ok(()) => {
debug!(device_id, node_name, "node set ok");
// Publish updated value.
if let Ok(new_val) =
device.get_feature(&node_name).await
{
publish_node_value(
&session,
&device_id,
&node_name,
&new_val,
)
.await;
}
NodeOpResponse {
ok: true,
error: None,
}
}
Err(e) => NodeOpResponse {
ok: false,
error: Some(e.to_string()),
},
}
}
Err(e) => NodeOpResponse {
ok: false,
error: Some(format!("invalid payload: {e}")),
},
}
}
None => NodeOpResponse {
ok: false,
error: Some("missing payload".to_string()),
},
}
};
let reply_key = keys::node_set(&device_id, &node_name);
let Ok(payload) = serde_json::to_vec(&response) else {
tracing::error!("failed to serialize node set response");
continue;
};
let _ = query.reply(&reply_key, payload).await;
}
Err(_) => break,
}
}
_ = shutdown.changed() => {
if *shutdown.borrow() { break; }
}
}
}
}
/// Declare a queryable for command execution.
pub async fn run_execute_queryable<D: DeviceOps>(
session: Arc<Session>,
device: Arc<D>,
mut shutdown: watch::Receiver<bool>,
) {
let device_id = device.device_id().to_string();
let key = keys::node_execute(&device_id, "*");
let queryable = match session.declare_queryable(&key).await {
Ok(q) => q,
Err(e) => {
warn!(device_id, error = %e, "failed to declare execute queryable");
return;
}
};
info!(device_id, key, "execute queryable ready");
loop {
tokio::select! {
query = queryable.recv_async() => {
match query {
Ok(query) => {
let key_expr = query.key_expr().as_str();
let node_name = keys::extract_node_name(key_expr)
.unwrap_or_default()
.to_string();
let response = match device.exec_command(&node_name).await {
Ok(()) => {
debug!(device_id, node_name, "command executed");
NodeOpResponse { ok: true, error: None }
}
Err(e) => NodeOpResponse {
ok: false,
error: Some(e.to_string()),
},
};
let reply_key = keys::node_execute(&device_id, &node_name);
let Ok(payload) = serde_json::to_vec(&response) else {
tracing::error!("failed to serialize execute response");
continue;
};
let _ = query.reply(&reply_key, payload).await;
}
Err(_) => break,
}
}
_ = shutdown.changed() => {
if *shutdown.borrow() { break; }
}
}
}
}
/// Declare a queryable for bulk node reads.
pub async fn run_bulk_read_queryable<D: DeviceOps>(
session: Arc<Session>,
device: Arc<D>,
mut shutdown: watch::Receiver<bool>,
) {
let device_id = device.device_id().to_string();
let key = keys::nodes_bulk_read(&device_id);
let queryable = match session.declare_queryable(&key).await {
Ok(q) => q,
Err(e) => {
warn!(device_id, error = %e, "failed to declare bulk read queryable");
return;
}
};
info!(device_id, key, "bulk read queryable ready");
loop {
tokio::select! {
query = queryable.recv_async() => {
match query {
Ok(query) => {
let response = match query.payload() {
Some(payload) => {
match serde_json::from_slice::<BulkReadRequest>(
&payload.to_bytes(),
) {
Ok(req) => {
let mut values = std::collections::HashMap::new();
for name in &req.names {
if let Ok(val) = device.get_feature(name).await {
values.insert(
name.clone(),
NodeValueUpdate {
value: serde_json::Value::String(val),
access_mode: "RW".to_string(),
min: None,
max: None,
inc: None,
},
);
}
}
BulkReadResponse { values }
}
Err(e) => {
warn!(device_id, error = %e, "invalid bulk read request");
BulkReadResponse {
values: std::collections::HashMap::new(),
}
}
}
}
None => BulkReadResponse {
values: std::collections::HashMap::new(),
},
};
let Ok(payload) = serde_json::to_vec(&response) else {
tracing::error!("failed to serialize bulk read response");
continue;
};
let _ = query.reply(&key, payload).await;
}
Err(_) => break,
}
}
_ = shutdown.changed() => {
if *shutdown.borrow() { break; }
}
}
}
}
/// Publish initial values for common SFNC nodes after device connection.
pub async fn publish_initial_values<D: DeviceOps>(session: &Session, device: &D) {
let device_id = device.device_id();
// Read and publish key SFNC feature values.
let sfnc_nodes = [
"Width",
"Height",
"PixelFormat",
"ExposureTime",
"ExposureTimeAbs",
"Gain",
"GainRaw",
"AcquisitionMode",
"DeviceModelName",
"DeviceVendorName",
"DeviceSerialNumber",
"SensorWidth",
"SensorHeight",
"OffsetX",
"OffsetY",
"BinningHorizontal",
"BinningVertical",
];
for name in &sfnc_nodes {
if let Ok(value) = device.get_feature(name).await {
publish_node_value(session, device_id, name, &value).await;
}
}
info!(device_id, "published initial node values");
}
/// Publish a single node value update.
async fn publish_node_value(session: &Session, device_id: &str, name: &str, value: &str) {
let update = NodeValueUpdate {
value: serde_json::Value::String(value.to_string()),
access_mode: "RW".to_string(),
min: None,
max: None,
inc: None,
};
let key = keys::node_value(device_id, name);
if let Ok(payload) = serde_json::to_vec(&update) {
let _ = session.put(&key, payload).await;
}
}