dora_tcp

Cargo.toml

@@ -40,6 +40,7 @@ members = [
     "node-hub/dora-rav1e",
     "node-hub/dora-dav1d",
     "node-hub/dora-rustypot",
+    "node-hub/dora-tcp",
     "libraries/extensions/ros2-bridge",
     "libraries/extensions/ros2-bridge/msg-gen",
     "libraries/extensions/ros2-bridge/python",

node-hub/dora-tcp/Cargo.toml

@@ -0,0 +1,13 @@
+[package]
+name = "dora-tcp"
+version.workspace = true
+edition.workspace = true
+documentation.workspace = true
+description.workspace = true
+license.workspace = true
+repository.workspace = true
+
+[dependencies]
+dora-node-api = { workspace = true }
+tokio = { version = "1.45.0", features = ["full"] }
+eyre = "0.6.8"

node-hub/dora-tcp/README.md

@@ -0,0 +1,34 @@
+# dora-tcp
+
+Basic TCP Implementation for streaming data to a TCP Destination. 
+
+
+## Getting Started
+Copy the node to your dora project and build it
+
+
+Example:
+- Streaming drive commands to a Unity simulation hosting a TCP server.
+
+Example dataflow.yml
+```shell
+nodes:
+  - id: drive_director
+    build: cargo build -p drive_director
+    path: target/debug/drive_director
+    inputs:
+      tick: dora/timer/millis/100
+    outputs:
+      - command
+  - id: dora-tcp
+    build: cargo build -p dora-tcp
+    path: target/debug/dora-tcp
+    inputs:
+      command: drive_director/command
+```
+
+## Input definition
+
+- command: String
+
+Note: I used a colon to separate the commands ie drive:10 but you can modify as needed.

node-hub/dora-tcp/src/lib.rs

@@ -0,0 +1,37 @@
+/*
+    Basic TCP implementation for streaming events to a TCP Destination
+*/
+use dora_node_api::{DoraNode, Event};
+use eyre::Result;
+use tokio::io::AsyncWriteExt;
+use tokio::net::TcpStream;
+
+pub async fn lib_main() -> Result<()> {
+    // NOTE: Hard-coded address
+    let mut stream =
+        TcpStream::connect(std::env::var("ADDR").unwrap_or("127.0.0.1:8052".to_string())).await?;
+
+    let (_, mut events) = DoraNode::init_from_env()?;
+
+    while let Some(event) = events.recv() {
+        match event {
+            Event::Input {
+                id,
+                metadata: _,
+                data,
+            } => match id.as_str() {
+                "text" => {
+                    // Extract the command
+                    let command: &str = (&data).try_into()?;
+
+                    // Send the command to the Unity over tcp
+                    stream.write_all(command.as_bytes()).await?;
+                }
+                _ => {}
+            },
+            _ => {}
+        }
+    }
+
+    Ok(())
+}

node-hub/dora-tcp/src/main.rs

@@ -0,0 +1,5 @@
+#[tokio::main]
+
+async fn main() -> Result<(), eyre::Error> {
+    dora_tcp::lib_main().await
+}