ADD: publish, subscribe

Cargo.toml

@@ -16,6 +16,7 @@ members = [
   "primitives",
   "protocol",
   "protocol/examples/reqres",
+  "protocol/examples/ros",
   "rpc",
   "runtime/local",
   "runtime/alpha",

bin/node/Cargo.toml

@@ -26,6 +26,7 @@ parity-util-mem = { version = "0.11", default-features = false, features = [
   "jemalloc-global",
 ] }
 robonomics-service = { path = "../../service", default-features = false }
+tokio = { version = "1.23.0", features = ["full"]  }
 
 [features]
 default = ["robonomics-service/kusama", "robonomics-service/wasmtime"]

bin/node/src/main.rs

@@ -19,6 +19,12 @@
 
 #![warn(missing_docs)]
 
+#[cfg(not(feature = "discovery"))]
 fn main() -> robonomics_service::Result<()> {
     robonomics_service::run()
 }
+#[cfg(feature = "discovery")]
+#[tokio::main]
+async fn main() -> robonomics_service::Result<()> {
+    robonomics_service::run().await
+}

protocol/Cargo.toml

@@ -25,6 +25,7 @@ rand = "0.8.4"
 rust-base58 = "0.0.4"
 chrono = "0.4"
 libp2p = { version = "0.49", features = [
+    "identify",
     "gossipsub",
     "kad",
     "mdns",
@@ -38,6 +39,4 @@ libp2p = { version = "0.49", features = [
     "tokio",
     "rsa",
 ] }
-
-tokio = { version = "1", features = ["full"] }
-
+tokio = { version = "1.23.0", features = ["full"] }

protocol/examples/ros/.gitignore

@@ -0,0 +1 @@
+/target

protocol/examples/ros/Cargo.toml

@@ -0,0 +1,10 @@
+[package]
+name = "robonomics-ros-example"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+robonomics-protocol = { path = "../.." }
+tokio = { version = "1.23", features = ["full"] }
+futures = "0.3"
+libp2p = "0.49"

protocol/examples/ros/src/main.rs

@@ -0,0 +1,99 @@
+use futures::StreamExt;
+use libp2p::{
+    gossipsub::{GossipsubEvent, IdentTopic as Topic},
+    identity,
+    swarm::{SwarmBuilder, SwarmEvent},
+    Multiaddr, PeerId,
+};
+use std::{env, error::Error, time::Duration};
+use tokio::io::{self, AsyncBufReadExt};
+
+use robonomics_protocol::network::behaviour::{OutEvent, RobonomicsNetworkBehaviour};
+
+#[tokio::main]
+async fn main() -> Result<(), Box<dyn Error>> {
+    // Create a random PeerId
+    let local_key = identity::Keypair::generate_ed25519();
+    let local_peer_id = PeerId::from(local_key.public());
+    println!("Local peer id: {local_peer_id}");
+
+    // Set params
+    let heartbeat_interval = Duration::from_millis(1000);
+    let disable_pubsub = false;
+    let disable_mdns = true;
+    let disable_kad = true;
+    let network_listen_address = "/ip4/0.0.0.0/tcp/0"
+        .parse()
+        .expect("network listen address");
+
+    // Set up an encrypted DNS-enabled TCP Transport over the Mplex protocol
+    let transport = libp2p::tokio_development_transport(local_key.clone())?;
+
+    // Create robonomics network behaviour
+    let behaviour = RobonomicsNetworkBehaviour::new(
+        local_key,
+        local_peer_id,
+        heartbeat_interval,
+        disable_pubsub,
+        disable_mdns,
+        disable_kad,
+    )
+    .expect("Correct behaviour");
+
+    // Create swarm
+    let mut swarm = SwarmBuilder::new(transport, behaviour, local_peer_id)
+        .executor(Box::new(|fut| {
+            tokio::spawn(fut);
+        }))
+        .build();
+
+    // Create topic
+    let topic = Topic::new("ROS");
+
+    // Subscribe to topic
+    if let Some(pubsub) = swarm.behaviour_mut().pubsub.as_mut() {
+        pubsub.subscribe(&topic)?;
+    }
+
+    // Add nodes
+    if let Some(to_dial) = env::args().nth(1) {
+        let addr: Multiaddr = to_dial.parse()?;
+        swarm.dial(addr.clone())?;
+
+        // Add node to pubsub swarm
+        if let Some(pubsub) = swarm.behaviour_mut().pubsub.as_mut() {
+            if let Some(peer) = PeerId::try_from_multiaddr(&addr) {
+                pubsub.add_explicit_peer(&peer);
+            }
+        }
+    }
+
+    // Read full lines from stdin
+    let mut stdin = io::BufReader::new(io::stdin()).lines();
+
+    // Listen on all interfaces and whatever port the OS assigns
+    swarm.listen_on(network_listen_address)?;
+
+    println!("Enter messages via STDIN and they will be sent to connected peers using Pubsub");
+
+    loop {
+        tokio::select! {
+            line = stdin.next_line() => {
+                if let Some(pubsub) = swarm.behaviour_mut().pubsub.as_mut() {
+                    pubsub.publish(topic.clone(), line.expect("Stdin not to close").expect("").as_bytes())?;
+                }
+            },
+            event = swarm.select_next_some() => match event {
+                SwarmEvent::Behaviour(OutEvent::Pubsub(GossipsubEvent::Message {
+                    propagation_source: peer_id,
+                    message_id: id,
+                    message,
+                })) => println!(
+                        "Got message: '{}' with id: {id} from peer: {peer_id}",
+                        String::from_utf8_lossy(&message.data),
+                    ),
+                _ => {},
+            }
+        }
+    }
+}