update template

Author: npmenard

Cargo.toml

@@ -43,6 +43,6 @@ local-ip-address = "0.4.9"
 serde = {version="1.0.145",features=["derive"]}
 serde_json = "1.0.86"
 tokio = { version = "1", features = ["full"] }
-viam = {version = "0.0.7", git = "https://github.com/viamrobotics/viam-rust-sdk.git"}
+viam = {version = ">=0.0.7", git = "https://github.com/viamrobotics/viam-rust-sdk.git"}
 viam-rust-utils = "0.0.6"
 

src/main.rs

@@ -6,28 +6,19 @@ include!(concat!(env!("OUT_DIR"), "/robot_secret.rs"));
 
 use anyhow::bail;
 use esp_idf_hal::prelude::Peripherals;
-use esp_idf_hal::task::notify;
 use esp_idf_svc::eventloop::EspSystemEventLoop;
-use esp_idf_svc::mdns::EspMdns;
 use esp_idf_svc::netif::{EspNetif, EspNetifWait};
 use esp_idf_svc::wifi::EspWifi;
+use esp_idf_sys as _; // If using the `binstart` feature of `esp-idf-sys`, always keep this module imported
 use esp_idf_sys::esp_wifi_set_ps;
-use esp_idf_sys::vTaskDelay;
-use esp_idf_sys::{self as _, TaskHandle_t}; // If using the `binstart` feature of `esp-idf-sys`, always keep this module imported
-use futures_lite::future::block_on;
-use hyper::server::conn::Http;
 use log::*;
-use mini_rdk::esp32::exec::Esp32Executor;
-use mini_rdk::esp32::grpc::GrpcServer;
 use mini_rdk::esp32::robot::Esp32Robot;
 use mini_rdk::esp32::robot::ResourceType;
-use mini_rdk::esp32::robot_client::RobotClientConfig;
-use mini_rdk::esp32::tcp::Esp32Listener;
-use mini_rdk::esp32::tls::{Esp32Tls, Esp32TlsServerConfig};
+use mini_rdk::esp32::server::{CloudConfig, Esp32Server};
+use mini_rdk::esp32::tls::Esp32TlsServerConfig;
 use mini_rdk::proto::common::v1::ResourceName;
 use std::cell::RefCell;
 use std::collections::HashMap;
-use std::net::SocketAddr;
 use std::rc::Rc;
 use std::sync::Arc;
 use std::sync::Mutex;
@@ -99,35 +90,6 @@ fn main() -> anyhow::Result<()> {
         let wifi = start_wifi(periph.modem, sys_loop_stack)?;
         (wifi.sta_netif().get_ip_info()?.ip, wifi)
     };
-
-    let client_cfg = { RobotClientConfig::new(ROBOT_SECRET.to_string(), ROBOT_ID.to_string(), ip) };
-
-    let hnd = match mini_rdk::esp32::robot_client::start(client_cfg) {
-        Err(e) => {
-            log::error!("couldn't start robot client {:?} will start the server", e);
-            None
-        }
-        Ok(hnd) => Some(hnd),
-    };
-
-    // start mdns service
-    let _mdms = {
-        let mut mdns = EspMdns::take()?;
-        mdns.set_hostname(ROBOT_NAME)?;
-        mdns.set_instance_name(ROBOT_NAME)?;
-        mdns.add_service(None, "_rpc", "_tcp", 80, &[])?;
-        mdns
-    };
-
-    if let Err(e) = runserver(robot, hnd) {
-        log::error!("robot server failed with error {:?}", e);
-        return Err(e);
-    }
-
-    Ok(())
-}
-
-fn runserver(robot: Esp32Robot, client_handle: Option<TaskHandle_t>) -> anyhow::Result<()> {
     let cfg = {
         let cert = include_bytes!(concat!(env!("OUT_DIR"), "/ca.crt"));
         let key = include_bytes!(concat!(env!("OUT_DIR"), "/key.key"));
@@ -138,36 +100,13 @@ fn runserver(robot: Esp32Robot, client_handle: Option<TaskHandle_t>) -> anyhow::
             key.len() as u32,
         )
     };
-    let tls = Box::new(Esp32Tls::new_server(&cfg));
-    let address: SocketAddr = "0.0.0.0:80".parse().unwrap();
-    let mut listener = Esp32Listener::new(address.into(), Some(tls))?;
-    let exec = Esp32Executor::new();
-    let srv = GrpcServer::new(Arc::new(Mutex::new(robot)));
-    if let Some(hnd) = client_handle {
-        if unsafe { notify(hnd, 1) } {
-            log::info!("successfully notified client task");
-            unsafe {
-                vTaskDelay(1000);
-            };
-        } else {
-            log::error!("failed to notity client task had handle {:?}", hnd);
-        }
-    } else {
-        log::error!("no handle")
-    }
-    loop {
-        let stream = listener.accept()?;
-        block_on(exec.run(async {
-            let err = Http::new()
-                .with_executor(exec.clone())
-                .http2_max_concurrent_streams(1)
-                .serve_connection(stream, srv.clone())
-                .await;
-            if err.is_err() {
-                log::error!("server error {}", err.err().unwrap());
-            }
-        }));
-    }
+
+    let mut cloud_cfg = CloudConfig::new(ROBOT_NAME, FQDN, ROBOT_ID, ROBOT_SECRET);
+    cloud_cfg.set_tls_config(cfg);
+    let esp32_srv = Esp32Server::new(robot, cloud_cfg);
+    esp32_srv.start(ip)?;
+
+    Ok(())
 }
 
 fn start_wifi(