init adding ws client

Cargo.toml

@@ -13,7 +13,7 @@ parsit = "0.2.0"
 graphviz-rust = "0.6.2"
 logos = "0.13.0"
 itertools = "0.11.0"
-strum = "0.25.0"
+strum = { version = "0.25.0", features = [] }
 strum_macros = "0.25.1"
 log = "0.4"
 env_logger = "0.10.0"
@@ -30,6 +30,7 @@ chrono = "0.4.26"
 quick-xml = "0.31.0"
 
 tungstenite = "0.20.1"
+url = "2.4.1"
 
 [dev-dependencies]
 wiremock = "0.5.19"

src/runtime.rs

@@ -16,7 +16,6 @@ use std::str::ParseBoolError;
 use std::string::FromUtf8Error;
 use std::sync::{MutexGuard, PoisonError};
 use quick_xml::events::attributes::AttrError;
-use rustdds::dds::CreateError;
 
 /// The major type of every result in Forester.
 pub type RtResult<T> = Result<T, RuntimeError>;

src/runtime/builder/ros_core.rs

@@ -13,6 +13,6 @@ pub fn ros_actions_file() -> String {
 // The actions are accessible using the import 'import "ros::core"'
 
 // Publish message to the topic
-impl publish(topic:string, type:string, value:any, qos_policy:object);
+impl publish(topic:string, value:any, url:string);
 "#)
 }

src/runtime/dds.rs

@@ -1,5 +1,5 @@
 //! Provide a DDS implementation for the runtime.
-
+// ros2 launch rosbridge_server rosbridge_websocket_launch.xml
 pub mod ws_client;
 
 use crate::runtime::action::{Impl, Tick};

src/runtime/dds/ws_client.rs

@@ -0,0 +1,49 @@
+use serde::{Deserialize, Serialize};
+use tungstenite::{connect, Message};
+use url::Url;
+
+
+#[derive(Serialize, Deserialize)]
+pub struct PubMes<D: Serialize> {
+    pub topic: String,
+    pub msg: D,
+}
+
+impl<D: Serialize> PubMes<D> {
+    pub fn new(topic: String, msg: D) -> Self {
+        Self { topic, msg }
+    }
+}
+
+pub fn publish<D: Serialize>(mes: PubMes<D>, url: String) {
+    let (mut socket, response) =
+        connect(Url::parse(url.as_str()).unwrap()).expect("Can't connect");
+    println!("Connected to the server");
+    println!("Response HTTP code: {}", response.status());
+    println!("Response contains the following headers:");
+    for (ref header, _value) in response.headers() {
+        println!("* {}", header);
+    }
+    let js = serde_json::to_string_pretty(&mes).unwrap();
+    socket.send(Message::text(js)).unwrap();
+}
+
+
+#[cfg(test)]
+mod tests {
+    use std::collections::HashMap;
+    use crate::runtime::args::RtValue;
+    use crate::runtime::dds::ws_client::{publish, PubMes};
+
+    #[test]
+    fn smoke() {
+        let value = RtValue::Object(HashMap::from_iter(vec![("a".to_string(), RtValue::int(10))]));
+        publish(PubMes::new(
+            "test".to_string(),
+            value,
+        ), "ws://localhost:9090".to_string());
+    }
+}
+
+
+

tree/tests/flow/parallel/simple_w_retry/main.tree

@@ -1,7 +1,7 @@
 import "std::actions"
 
 cond fail_before_tick();
-cond incr(key:string,default:num);
+cond incr(key:string,default:any);
 
 root main repeat(3) parallel {
     r_fallback {