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RSDK-8124 Cleanup entry point naming (#294)
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@acmorrow
acmorrow authored Aug 20, 2024
1 parent 3f5181e commit b216027
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Showing 7 changed files with 142 additions and 174 deletions.
39 changes: 13 additions & 26 deletions micro-rdk-ffi/src/ffi/runtime.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -261,6 +261,8 @@ pub unsafe extern "C" fn viam_server_start(ctx: *mut viam_server_context) -> via
}
};

use micro_rdk::common::entry::serve_with_network;

#[cfg(has_robot_config)]
{
use micro_rdk::common::credentials_storage::RAMStorage;
Expand All @@ -271,38 +273,23 @@ pub unsafe extern "C" fn viam_server_start(ctx: *mut viam_server_context) -> via
ROBOT_SECRET.expect("Provided build-time configuration failed to set `ROBOT_SECRET`"),
);
log::info!("Robot configuration information was provided at build time - bypassing Viam provisioning flow");
#[cfg(target_os = "espidf")]
use micro_rdk::esp32::entry::serve_web_with_external_network;
#[cfg(not(target_os = "espidf"))]
use micro_rdk::native::entry::serve_web_with_external_network;
serve_web_with_external_network(None, repr, max_connection, ram_storage, network);
serve_with_network(None, repr, max_connection, ram_storage, network);
}

#[cfg(not(has_robot_config))]
{
#[cfg(not(target_os = "espidf"))]
{
use micro_rdk::common::credentials_storage::RAMStorage;
let storage = RAMStorage::default();
micro_rdk::native::entry::serve_web_with_external_network(
Some(ctx.provisioning_info),
repr,
max_connection,
storage,
network,
)
}
let storage = micro_rdk::common::credentials_storage::RAMStorage::default();
#[cfg(target_os = "espidf")]
{
let storage = micro_rdk::esp32::nvs_storage::NVSStorage::new("nvs").unwrap();
micro_rdk::esp32::entry::serve_web_with_external_network(
Some(ctx.provisioning_info),
repr,
max_connection,
storage,
network,
)
}
let storage = micro_rdk::esp32::nvs_storage::NVSStorage::new("nvs").unwrap();

serve_with_network(
Some(ctx.provisioning_info),
repr,
max_connection,
storage,
network,
)
}

viam_code::VIAM_OK
Expand Down
13 changes: 7 additions & 6 deletions micro-rdk-server/esp32/main.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@ mod esp32 {
registry::ComponentRegistry,
},
esp32::{
entry::serve_web,
entry::serve,
esp_idf_svc::{
self,
sys::{g_wifi_feature_caps, CONFIG_FEATURE_CACHE_TX_BUF_BIT},
Expand All @@ -34,7 +34,7 @@ mod esp32 {
pub static g_spiram_ok: bool;
}

fn register_examples(r: &mut ComponentRegistry) {
fn register_example_modules(r: &mut ComponentRegistry) {
if let Err(e) = micro_rdk_modular_driver_example::free_heap_sensor::register_models(r) {
log::error!("failed to register `free_heap_sensor`: {}", e);
}
Expand Down Expand Up @@ -66,14 +66,15 @@ mod esp32 {
eth_configure(&sys_loop, eth).unwrap()
};

let mut r = Box::<ComponentRegistry>::default();
register_examples(&mut r);
let repr = RobotRepresentation::WithRegistry(r);
let mut registry = Box::<ComponentRegistry>::default();
register_example_modules(&mut registry);
let repr = RobotRepresentation::WithRegistry(registry);

let storage = NVSStorage::new("nvs").unwrap();

// At runtime, if the program does not detect credentials or configs in storage,
// it will try to load statically compiled values.

if !storage.has_wifi_credentials() {
// check if any were statically compiled
if SSID.is_some() && PASS.is_some() {
Expand Down Expand Up @@ -117,7 +118,7 @@ mod esp32 {
info.set_manufacturer("viam".to_owned());
info.set_model("test-esp32".to_owned());

serve_web(Some(info), repr, max_connections, storage);
serve(Some(info), repr, max_connections, storage);
}
}

Expand Down
49 changes: 29 additions & 20 deletions micro-rdk-server/native/main.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -3,46 +3,55 @@ mod native {
const ROBOT_ID: Option<&str> = option_env!("MICRO_RDK_ROBOT_ID");
const ROBOT_SECRET: Option<&str> = option_env!("MICRO_RDK_ROBOT_SECRET");

use micro_rdk::{
common::{
conn::network::ExternallyManagedNetwork,
credentials_storage::{RAMStorage, RobotConfigurationStorage, RobotCredentials},
entry::RobotRepresentation,
provisioning::server::ProvisioningInfo,
},
native::entry::serve_web_with_external_network,
use micro_rdk::common::{
conn::network::ExternallyManagedNetwork,
credentials_storage::{RAMStorage, RobotConfigurationStorage, RobotCredentials},
entry::{serve_with_network, RobotRepresentation},
provisioning::server::ProvisioningInfo,
registry::ComponentRegistry,
};

pub(crate) fn main_native() {
env_logger::builder()
.format_timestamp(Some(env_logger::TimestampPrecision::Millis))
.init();

let repr = RobotRepresentation::WithRegistry(Box::default());

let network = match local_ip_address::local_ip().expect("error parsing local IP") {
std::net::IpAddr::V4(ip) => ExternallyManagedNetwork::new(ip),
_ => panic!("oops expected ipv4"),
};

let registry = Box::<ComponentRegistry>::default();
let repr = RobotRepresentation::WithRegistry(registry);

let storage = RAMStorage::new();
if ROBOT_ID.is_some() && ROBOT_SECRET.is_some() {
if let Err(e) = storage.store_robot_credentials(
RobotCredentials::new(
ROBOT_ID.unwrap().to_string(),
ROBOT_SECRET.unwrap().to_string(),
)
.into(),
) {
log::error!("Failed to store RobotCredentials: {}", e);

// At runtime, if the program does not detect credentials or configs in storage,
// it will try to load statically compiled values.

if !storage.has_robot_configuration() {
// check if any were statically compiled
if ROBOT_ID.is_some() && ROBOT_SECRET.is_some() {
log::info!("Storing static values from build time robot configuration");
storage
.store_robot_credentials(
RobotCredentials::new(
ROBOT_ID.unwrap().to_string(),
ROBOT_SECRET.unwrap().to_string(),
)
.into(),
)
.expect("Failed to store robot credentials");
}
}

let max_connections = 3;

let mut info = ProvisioningInfo::default();
info.set_manufacturer("viam".to_owned());
info.set_model("test-esp32".to_owned());

serve_web_with_external_network(Some(info), repr, 3, storage, network);
serve_with_network(Some(info), repr, max_connections, storage, network);
}
}

Expand Down
57 changes: 54 additions & 3 deletions micro-rdk/src/common/entry.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -75,7 +75,7 @@ pub async fn validate_robot_credentials(
builder.build().await.map_err(|e| e.into())
}

pub async fn serve_web_inner<S>(
pub async fn serve_inner<S>(
storage: S,
repr: RobotRepresentation,
exec: Executor,
Expand Down Expand Up @@ -235,7 +235,7 @@ pub async fn serve_web_inner<S>(
server.serve(robot).await;
}

pub async fn serve_async_with_external_network<S>(
pub async fn async_serve_with_network<S>(
exec: Executor,
info: Option<ProvisioningInfo>,
storage: S,
Expand Down Expand Up @@ -356,7 +356,7 @@ where
let _ = last_error.insert(e);
}
};
serve_web_inner(
serve_inner(
storage,
repr,
exec,
Expand All @@ -368,3 +368,54 @@ where
.await;
Ok(())
}

pub fn serve_with_network<S>(
info: Option<ProvisioningInfo>,
repr: RobotRepresentation,
max_webrtc_connection: usize,
storage: S,
network: impl Network,
) where
S: RobotConfigurationStorage + WifiCredentialStorage + Clone + 'static,
<S as RobotConfigurationStorage>::Error: Debug,
ServerError: From<<S as RobotConfigurationStorage>::Error>,
<S as WifiCredentialStorage>::Error: Sync + Send + 'static,
{
let exec = Executor::new();

#[cfg(feature = "esp32")]
{
// set the TWDT to expire after 5 minutes
crate::esp32::esp_idf_svc::sys::esp!(unsafe {
crate::esp32::esp_idf_svc::sys::esp_task_wdt_init(300, true)
})
.unwrap();

// Register the current task on the TWDT. The TWDT runs in the IDLE Task.
crate::esp32::esp_idf_svc::sys::esp!(unsafe {
crate::esp32::esp_idf_svc::sys::esp_task_wdt_add(
crate::esp32::esp_idf_svc::sys::xTaskGetCurrentTaskHandle(),
)
})
.unwrap();

exec.spawn(async {
loop {
Timer::after(Duration::from_secs(150)).await;
unsafe { crate::esp32::esp_idf_svc::sys::esp_task_wdt_reset() };
}
})
.detach();
}

let _ = exec.block_on(Box::pin(async_serve_with_network(
exec.clone(),
info,
storage,
repr,
network,
max_webrtc_connection,
)));

unreachable!()
}
60 changes: 5 additions & 55 deletions micro-rdk/src/esp32/entry.rs
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,8 @@ use crate::{
app_client::AppClientError,
conn::network::Network,
credentials_storage::{RobotConfigurationStorage, WifiCredentialStorage},
entry::validate_robot_credentials,
entry::RobotRepresentation,
entry::{serve_async_with_external_network, validate_robot_credentials},
exec::Executor,
grpc::ServerError,
grpc_client::GrpcClientError,
Expand All @@ -32,7 +32,7 @@ use crate::{
// 4) Robot Credentials + WiFi without external network
// The function attempts to connect to the configured Wifi network if any, it then checks the robot credentials. If Wifi credentials are absent it starts provisioning mode
// If they are invalid or absent it will start the provisioning server. Once provision is done it invokes the main server.
async fn serve_async<S>(
async fn async_serve<S>(
exec: Executor,
info: Option<ProvisioningInfo>,
storage: S,
Expand Down Expand Up @@ -194,7 +194,7 @@ where
}
};

crate::common::entry::serve_web_inner(
crate::common::entry::serve_inner(
storage,
repr,
exec,
Expand All @@ -207,7 +207,7 @@ where
Ok(())
}

pub fn serve_web<S>(
pub fn serve<S>(
info: Option<ProvisioningInfo>,
repr: RobotRepresentation,
max_webrtc_connection: usize,
Expand Down Expand Up @@ -244,7 +244,7 @@ pub fn serve_web<S>(
})
.detach();

let _ = cloned_exec.block_on(Box::pin(serve_async(
let _ = cloned_exec.block_on(Box::pin(async_serve(
exec,
info,
storage,
Expand All @@ -254,53 +254,3 @@ pub fn serve_web<S>(

unreachable!()
}

pub fn serve_web_with_external_network<S>(
info: Option<ProvisioningInfo>,
repr: RobotRepresentation,
max_webrtc_connection: usize,
storage: S,
network: impl Network,
) where
S: RobotConfigurationStorage + WifiCredentialStorage + Clone + 'static,
<S as RobotConfigurationStorage>::Error: Debug,
ServerError: From<<S as RobotConfigurationStorage>::Error>,
<S as WifiCredentialStorage>::Error: Sync + Send + 'static,
{
// set the TWDT to expire after 5 minutes
crate::esp32::esp_idf_svc::sys::esp!(unsafe {
crate::esp32::esp_idf_svc::sys::esp_task_wdt_init(300, true)
})
.unwrap();

// Register the current task on the TWDT. The TWDT runs in the IDLE Task.
crate::esp32::esp_idf_svc::sys::esp!(unsafe {
crate::esp32::esp_idf_svc::sys::esp_task_wdt_add(
crate::esp32::esp_idf_svc::sys::xTaskGetCurrentTaskHandle(),
)
})
.unwrap();

let exec = Executor::new();
let cloned_exec = exec.clone();

cloned_exec
.spawn(async {
loop {
Timer::after(Duration::from_secs(150)).await;
unsafe { crate::esp32::esp_idf_svc::sys::esp_task_wdt_reset() };
}
})
.detach();

let _ = cloned_exec.block_on(Box::pin(serve_async_with_external_network(
exec,
info,
storage,
repr,
network,
max_webrtc_connection,
)));

unreachable!()
}
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