mecha10_core/

macros.rs

//! Mecha10 Framework Macros
//!
//! This module provides convenience macros to reduce boilerplate in node and driver implementations.

/// Run a node with automatic config loading and context creation
///
/// This macro eliminates boilerplate by automatically handling:
/// - Config loading with fallback (from env var, file, or default)
/// - Context creation with node name
/// - Calling run_node with proper types
///
/// # Arguments
///
/// * `$node_type` - The NodeImpl type (e.g., CameraFakeNode)
/// * `$node_name` - The node name string (e.g., "camera_fake")
/// * `$env_var` - Environment variable for config file path (e.g., "CAMERA_CONFIG")
/// * `$config_file` - Default config file path (e.g., "config/drivers/realsense_d435.json")
/// * `$env_prefix` - Environment variable prefix for config overrides (e.g., "CAMERA")
///
/// # Example
///
/// ```rust
/// use mecha10::prelude::*;
///
/// #[derive(Debug)]
/// struct CameraFakeNode {
///     config: CameraConfig,
/// }
///
/// #[derive(Debug, Clone, Deserialize, Serialize, Default)]
/// struct CameraConfig {
///     fps: f32,
/// }
///
/// #[async_trait]
/// impl NodeImpl for CameraFakeNode {
///     type Config = CameraConfig;
///
///     async fn init(config: Self::Config) -> Result<Self> {
///         Ok(Self { config })
///     }
///
///     async fn run(&mut self, ctx: &Context) -> Result<()> {
///         // Node logic here
///         Ok(())
///     }
/// }
///
/// // Instead of 13 lines:
/// // pub async fn run() -> Result<()> {
/// //     info!("Starting fake camera driver");
/// //     let config = load_config_with_fallback(
/// //         "CAMERA_CONFIG",
/// //         "config/drivers/realsense_d435.json",
/// //         "CAMERA",
/// //         Some(CameraConfig::default())
/// //     )?;
/// //     let ctx = Context::new("camera_fake");
/// //     run_node::<CameraFakeNode>(config, ctx).await
/// // }
///
/// // Simply use 1 line:
/// run_node_simple!(
///     CameraFakeNode,
///     "camera_fake",
///     "CAMERA_CONFIG",
///     "config/drivers/realsense_d435.json",
///     "CAMERA"
/// );
/// ```
#[macro_export]
macro_rules! run_node_simple {
    ($node_type:ty, $node_name:expr, $env_var:expr, $config_file:expr, $env_prefix:expr) => {
        pub async fn run() -> $crate::error::Result<()> {
            // Load config with fallback
            let config = $crate::config::load_config_with_fallback(
                $env_var,
                $config_file,
                $env_prefix,
                Some(<$node_type as $crate::node::NodeImpl>::Config::default()),
            )?;

            // Create context
            let ctx = $crate::context::Context::new($node_name);

            // Run the node with default health reporting
            $crate::node::run_node::<$node_type>(config, ctx, $crate::node::HealthReportingConfig::default()).await
        }
    };
}

/// Run a node with instance support for multi-instance deployments
///
/// This macro extends `run_node_simple!` with support for instance names,
/// allowing the same node implementation to run multiple instances with
/// different names and configurations.
///
/// # Arguments
///
/// * `$node_type` - The NodeImpl type (e.g., CameraFakeNode)
/// * `$node_name` - The base node name string (e.g., "camera_fake")
/// * `$instance_env` - Environment variable for instance name (e.g., "CAMERA_INSTANCE")
/// * `$env_var` - Environment variable for config file path (e.g., "CAMERA_CONFIG")
/// * `$config_file` - Default config file path (e.g., "config/drivers/camera/default.json")
/// * `$env_prefix` - Environment variable prefix for config overrides (e.g., "CAMERA")
///
/// # Example
///
/// ```rust
/// use mecha10::prelude::*;
///
/// #[derive(Debug)]
/// struct CameraFakeNode {
///     config: CameraConfig,
/// }
///
/// #[derive(Debug, Clone, Deserialize, Serialize, Default)]
/// struct CameraConfig {
///     fps: f32,
/// }
///
/// #[async_trait]
/// impl NodeImpl for CameraFakeNode {
///     type Config = CameraConfig;
///
///     async fn init(config: Self::Config) -> Result<Self> {
///         Ok(Self { config })
///     }
///
///     async fn run(&mut self, ctx: &Context) -> Result<()> {
///         // Node logic here - publishes to instance-scoped topics
///         Ok(())
///     }
/// }
///
/// run_node_with_instance!(
///     CameraFakeNode,
///     "camera_fake",
///     "CAMERA_INSTANCE",  // Set to "left" or "right" etc.
///     "CAMERA_CONFIG",
///     "config/drivers/camera/default.json",
///     "CAMERA"
/// );
/// ```
///
/// # Environment Variables
///
/// - `$instance_env`: Instance name (e.g., "left", "right", "front_left")
/// - `$env_var`: Config file path
/// - `${env_prefix}_*`: Config overrides
///
/// # Instance Naming
///
/// If `$instance_env` is set to "left":
/// - Node ID: "camera_fake/left"
/// - Topics published via `publish_to_scoped()`: "/sensor/camera/rgb/left"
#[macro_export]
macro_rules! run_node_with_instance {
    ($node_type:ty, $node_name:expr, $instance_env:expr, $env_var:expr, $config_file:expr, $env_prefix:expr) => {
        pub async fn run() -> $crate::error::Result<()> {
            // Load config with fallback
            let config = $crate::config::load_config_with_fallback(
                $env_var,
                $config_file,
                $env_prefix,
                Some(<$node_type as $crate::node::NodeImpl>::Config::default()),
            )?;

            // Create context
            let mut ctx = $crate::context::Context::new($node_name).await?;

            // Apply instance name if set
            if let Ok(instance) = std::env::var($instance_env) {
                ctx = ctx.with_instance(&instance);
                $crate::prelude::info!("Running node '{}' with instance '{}'", $node_name, instance);
            } else {
                $crate::prelude::info!("Running node '{}' (no instance)", $node_name);
            }

            // Run the node with default health reporting
            $crate::node::run_node::<$node_type>(config, ctx, $crate::node::HealthReportingConfig::default()).await
        }
    };
}