csg-robomaster / libraries /core /src /daemon_messages.rs
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use std::{
collections::{BTreeMap, BTreeSet},
fmt,
net::SocketAddr,
path::PathBuf,
time::Duration,
};
use crate::{
config::{DataId, NodeId, NodeRunConfig, OperatorId},
descriptor::{Descriptor, OperatorDefinition, ResolvedNode},
};
use aligned_vec::{AVec, ConstAlign};
use dora_message::{uhlc, Metadata};
use uuid::{NoContext, Timestamp, Uuid};
#[derive(Debug, serde::Serialize, serde::Deserialize)]
pub struct NodeConfig {
pub dataflow_id: DataflowId,
pub node_id: NodeId,
pub run_config: NodeRunConfig,
pub daemon_communication: DaemonCommunication,
pub dataflow_descriptor: Descriptor,
}
#[derive(Debug, Clone, serde::Serialize, serde::Deserialize)]
pub enum DaemonCommunication {
Shmem {
daemon_control_region_id: SharedMemoryId,
daemon_drop_region_id: SharedMemoryId,
daemon_events_region_id: SharedMemoryId,
daemon_events_close_region_id: SharedMemoryId,
},
Tcp {
socket_addr: SocketAddr,
},
}
#[derive(Debug, serde::Serialize, serde::Deserialize)]
pub struct RuntimeConfig {
pub node: NodeConfig,
pub operators: Vec<OperatorDefinition>,
}
#[derive(Debug, serde::Serialize, serde::Deserialize)]
pub enum DaemonRequest {
Register {
dataflow_id: DataflowId,
node_id: NodeId,
dora_version: String,
},
Subscribe,
SendMessage {
output_id: DataId,
metadata: Metadata,
data: Option<DataMessage>,
},
CloseOutputs(Vec<DataId>),
/// Signals that the node is finished sending outputs and that it received all
/// required drop tokens.
OutputsDone,
NextEvent {
drop_tokens: Vec<DropToken>,
},
ReportDropTokens {
drop_tokens: Vec<DropToken>,
},
SubscribeDrop,
NextFinishedDropTokens,
EventStreamDropped,
}
impl DaemonRequest {
pub fn expects_tcp_reply(&self) -> bool {
#[allow(clippy::match_like_matches_macro)]
match self {
DaemonRequest::SendMessage { .. } | DaemonRequest::ReportDropTokens { .. } => false,
DaemonRequest::Register { .. }
| DaemonRequest::Subscribe
| DaemonRequest::CloseOutputs(_)
| DaemonRequest::OutputsDone
| DaemonRequest::NextEvent { .. }
| DaemonRequest::SubscribeDrop
| DaemonRequest::NextFinishedDropTokens
| DaemonRequest::EventStreamDropped => true,
}
}
}
#[derive(serde::Serialize, serde::Deserialize, Clone)]
pub enum DataMessage {
Vec(AVec<u8, ConstAlign<128>>),
SharedMemory {
shared_memory_id: String,
len: usize,
drop_token: DropToken,
},
}
impl DataMessage {
pub fn drop_token(&self) -> Option<DropToken> {
match self {
DataMessage::Vec(_) => None,
DataMessage::SharedMemory { drop_token, .. } => Some(*drop_token),
}
}
}
impl fmt::Debug for DataMessage {
fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
match self {
Self::Vec(v) => f
.debug_struct("Vec")
.field("len", &v.len())
.finish_non_exhaustive(),
Self::SharedMemory {
shared_memory_id,
len,
drop_token,
} => f
.debug_struct("SharedMemory")
.field("shared_memory_id", shared_memory_id)
.field("len", len)
.field("drop_token", drop_token)
.finish(),
}
}
}
type SharedMemoryId = String;
#[derive(Debug, Clone, serde::Serialize, serde::Deserialize)]
#[must_use]
pub enum DaemonReply {
Result(Result<(), String>),
PreparedMessage { shared_memory_id: SharedMemoryId },
NextEvents(Vec<Timestamped<NodeEvent>>),
NextDropEvents(Vec<Timestamped<NodeDropEvent>>),
Empty,
}
#[derive(Debug, Clone, serde::Serialize, serde::Deserialize)]
pub struct Timestamped<T> {
pub inner: T,
pub timestamp: uhlc::Timestamp,
}
#[derive(Debug, Clone, serde::Serialize, serde::Deserialize)]
pub enum NodeEvent {
Stop,
Reload {
operator_id: Option<OperatorId>,
},
Input {
id: DataId,
metadata: Metadata,
data: Option<DataMessage>,
},
InputClosed {
id: DataId,
},
AllInputsClosed,
}
#[derive(Debug, Clone, serde::Serialize, serde::Deserialize)]
pub enum NodeDropEvent {
OutputDropped { drop_token: DropToken },
}
#[derive(Debug, serde::Serialize, serde::Deserialize)]
pub struct DropEvent {
pub tokens: Vec<DropToken>,
}
#[derive(
Debug, Copy, Clone, PartialEq, Eq, PartialOrd, Ord, Hash, serde::Serialize, serde::Deserialize,
)]
pub struct DropToken(Uuid);
impl DropToken {
pub fn generate() -> Self {
Self(Uuid::new_v7(Timestamp::now(NoContext)))
}
}
#[derive(Debug, serde::Serialize, serde::Deserialize)]
pub enum InputData {
SharedMemory(SharedMemoryInput),
Vec(Vec<u8>),
}
impl InputData {
pub fn drop_token(&self) -> Option<DropToken> {
match self {
InputData::SharedMemory(data) => Some(data.drop_token),
InputData::Vec(_) => None,
}
}
}
#[derive(Debug, serde::Serialize, serde::Deserialize)]
pub struct SharedMemoryInput {
pub shared_memory_id: SharedMemoryId,
pub len: usize,
pub drop_token: DropToken,
}
#[derive(Debug, serde::Deserialize, serde::Serialize)]
pub enum DaemonCoordinatorEvent {
Spawn(SpawnDataflowNodes),
AllNodesReady {
dataflow_id: DataflowId,
success: bool,
},
StopDataflow {
dataflow_id: DataflowId,
grace_duration: Option<Duration>,
},
ReloadDataflow {
dataflow_id: DataflowId,
node_id: NodeId,
operator_id: Option<OperatorId>,
},
Logs {
dataflow_id: DataflowId,
node_id: NodeId,
},
Destroy,
Heartbeat,
}
#[derive(Debug, serde::Deserialize, serde::Serialize)]
pub enum InterDaemonEvent {
Output {
dataflow_id: DataflowId,
node_id: NodeId,
output_id: DataId,
metadata: Metadata,
data: Option<AVec<u8, ConstAlign<128>>>,
},
InputsClosed {
dataflow_id: DataflowId,
inputs: BTreeSet<(NodeId, DataId)>,
},
}
#[derive(Debug, serde::Deserialize, serde::Serialize)]
pub enum DaemonCoordinatorReply {
SpawnResult(Result<(), String>),
ReloadResult(Result<(), String>),
StopResult(Result<(), String>),
DestroyResult {
result: Result<(), String>,
#[serde(skip)]
notify: Option<tokio::sync::oneshot::Sender<()>>,
},
Logs(Result<Vec<u8>, String>),
}
pub type DataflowId = Uuid;
#[derive(Debug, serde::Deserialize, serde::Serialize)]
pub struct SpawnDataflowNodes {
pub dataflow_id: DataflowId,
pub working_dir: PathBuf,
pub nodes: Vec<ResolvedNode>,
pub machine_listen_ports: BTreeMap<String, SocketAddr>,
pub dataflow_descriptor: Descriptor,
}