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Merged
masc2023 merged 1 commit into from
Apr 15, 2026
Merged

Bazel macro for mini-adas targets #75

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154 changes: 13 additions & 141 deletions examples/rust/mini-adas/BUILD.bazel
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Expand Up @@ -12,165 +12,37 @@
# *******************************************************************************

load("@rules_rust//rust:defs.bzl", "rust_binary", "rust_library")
load(":adas_variants.bzl", "adas_variants")

rust_library(
name = "libmini_adas_rust",
srcs = [
"src/activities/components.rs",
"src/activities/input.rs",
"src/activities/mod.rs",
"src/activities/output.rs",
"src/config.rs",
"src/lib.rs",
],
crate_features = [
"com_linux_shm",
"signalling_relayed_tcp",
],
crate_name = "mini_adas",
visibility = ["//visibility:public"],
deps = [
"//examples/rust/mini-adas/mini-adas-gen:mini_adas_gen_rs",
"//src/feo:libfeo_rust",
"//src/feo-com:libfeo_com_rust",
"//src/feo-time:libfeo_time_rust",
"//src/feo-tracing:libfeo_tracing_rust",
"@score_baselibs_rust//src/log/score_log",
"@score_crates//:tracing",
],
)

rust_library(
name = "libmini_adas_rust_mw_com",
srcs = [
adas_variants(
name = "adas",
env = {
"MW_LOG_CONFIG_FILE": "examples/rust/mini-adas/etc/logging.json",
},
lib_srcs = [
"src/activities/components.rs",
"src/activities/input.rs",
"src/activities/mod.rs",
"src/activities/output.rs",
"src/config.rs",
"src/lib.rs",
],
crate_features = [
"com_mw",
"signalling_relayed_tcp",
],
crate_name = "mini_adas",
visibility = ["//visibility:public"],
deps = [
"//examples/rust/mini-adas/mini-adas-gen:mini_adas_gen_rs_mw_com",
"//src/feo:libfeo_rust",
"//src/feo-com:libfeo_com_rust_mw_com",
"//src/feo-time:libfeo_time_rust",
"//src/feo-tracing:libfeo_tracing_rust",
"@score_baselibs_rust//src/log/score_log",
"@score_communication//score/mw/com/impl/rust/com-api/com-api",
"@score_crates//:tracing",
],
)

rust_binary(
name = "adas_primary",
srcs = [
"src/bin/adas_primary.rs",
],
crate_features = ["signalling_relayed_tcp"],
visibility = ["//visibility:public"],
deps = [
":libmini_adas_rust",
"//src/feo:libfeo_rust",
"//src/feo-com:libfeo_com_rust",
"//src/feo-time:libfeo_time_rust",
"//src/feo-tracing:libfeo_tracing_rust",
"@score_baselibs_rust//src/log/score_log",
"@score_baselibs_rust//src/log/stdout_logger",
],
)

rust_binary(
name = "adas_primary_mw_com",
srcs = [
"src/bin/adas_primary.rs",
],
crate_features = [
"signalling_relayed_tcp",
"com_mw",
],
data = [
primary_data = [
"etc/logging.json",
"etc/mw_com_config_100.json",
],
env = {
"MW_LOG_CONFIG_FILE": "examples/rust/mini-adas/etc/logging.json",
},
rustc_flags = [
"-Clink-arg=-lstdc++",
"-Clink-arg=-lm",
"-Clink-arg=-lc",
],
visibility = ["//visibility:public"],
deps = [
":libmini_adas_rust_mw_com",
"//src/feo:libfeo_rust",
"//src/feo-com:libfeo_com_rust_mw_com",
"//src/feo-time:libfeo_time_rust",
"//src/feo-tracing:libfeo_tracing_rust",
"@score_baselibs_rust//src/log/score_log",
"@score_baselibs_rust//src/log/stdout_logger",
"@score_communication//score/mw/com/impl/rust/com-api/com-api",
],
)

rust_binary(
name = "adas_secondary",
srcs = [
"src/bin/adas_secondary.rs",
],
crate_features = ["signalling_relayed_tcp"],
visibility = ["//visibility:public"],
deps = [
":libmini_adas_rust",
"//src/feo:libfeo_rust",
"//src/feo-com:libfeo_com_rust",
"//src/feo-time:libfeo_time_rust",
"//src/feo-tracing:libfeo_tracing_rust",
"@score_baselibs_rust//src/log/score_log",
"@score_baselibs_rust//src/log/stdout_logger",
],
)

rust_binary(
name = "adas_secondary_mw_com",
srcs = [
"src/bin/adas_secondary.rs",
],
crate_features = [
"signalling_relayed_tcp",
"com_mw",
primary_srcs = [
"src/bin/adas_primary.rs",
],
data = [
secondary_data = [
"etc/logging.json",
"etc/mw_com_config_101.json",
"etc/mw_com_config_102.json",
],
env = {
"MW_LOG_CONFIG_FILE": "examples/rust/mini-adas/etc/logging.json",
},
rustc_flags = [
"-Clink-arg=-lstdc++",
"-Clink-arg=-lm",
"-Clink-arg=-lc",
secondary_srcs = [
"src/bin/adas_secondary.rs",
],
visibility = ["//visibility:public"],
deps = [
":libmini_adas_rust_mw_com",
"//src/feo:libfeo_rust",
"//src/feo-com:libfeo_com_rust_mw_com",
"//src/feo-time:libfeo_time_rust",
"//src/feo-tracing:libfeo_tracing_rust",
"@score_baselibs_rust//src/log/score_log",
"@score_baselibs_rust//src/log/stdout_logger",
"@score_communication//score/mw/com/impl/rust/com-api/com-api",
],
)

cc_library(
Expand Down
35 changes: 18 additions & 17 deletions examples/rust/mini-adas/README.md
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@@ -1,50 +1,51 @@
# Mini ADAS Example

Example of a minimal dummy ADAS activity set.
A recorder can be added to the example and switched on in the primary via a CLI flag.

## Running

You need to run the following commands in separate terminals.

```sh
# Use 400ms cycle time
bazelisk run //examples/rust/mini-adas:adas_primary -- 400
bazelisk run //examples/rust/mini-adas:adas_primary_com_iox2_direct_unix -- 400
```

```sh
bazelisk run //examples/rust/mini-adas:adas_secondary -- 1
bazelisk run //examples/rust/mini-adas:adas_secondary_com_iox2_direct_unix -- 1
```

```sh
bazelisk run //examples/rust/mini-adas:adas_secondary -- 2
bazelisk run //examples/rust/mini-adas:adas_secondary_com_iox2_direct_unix -- 2
```

## Using middleware COM for data exchange
It's possible to switch between com backend implementations:
* com_iox2 for Iceoryx2
* com_linux_shm for Linux shared memory backend
* com_mw for middleware COM backend

In order to use mw com instead of feo-com for data exchange use the following bazel targets instead:
And signalling implementations:
* direct_tcp for direct connections via TCP sockets
* direct_unix for direct connections via UNIX sockets
* relayed_tcp for relayed signalling via TCP sockets
* relayed_unix for relayed signalling via UNIX sockets
* direct_mw_com for direct connections via middleware COM (WIP, not available yet)

For instance, Linux shared memory com backend with TCP scokets signalling implementation may be started with:

```sh
# Use 400ms cycle time
bazelisk run //examples/rust/mini-adas:adas_primary_mw_com -- 400
bazelisk run //examples/rust/mini-adas:adas_primary_com_linux_shm_direct_tcp -- 400
```

```sh
bazelisk run //examples/rust/mini-adas:adas_secondary_mw_com -- 1
bazelisk run //examples/rust/mini-adas:adas_secondary_com_linux_shm_direct_tcp -- 1
```

```sh
bazelisk run //examples/rust/mini-adas:adas_secondary_mw_com -- 2
bazelisk run //examples/rust/mini-adas:adas_secondary_com_linux_shm_direct_tcp -- 2
```

## Different signalling layer

The easiest way to switch the signalling layer is by changing the crate_features in the `BUILD.bazel`,
make sure to switch it for every target you're using. Then you can just use the commands from above.

Note that for mpsc-only signalling, there can be only a primary process without
any secondaries or recorders, because mpsc does not support inter-process signalling.

## Running tracer

In order to start tracing use:
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109 changes: 109 additions & 0 deletions examples/rust/mini-adas/adas_variants.bzl
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# *******************************************************************************
# Copyright (c) 2026 Contributors to the Eclipse Foundation
#
# See the NOTICE file(s) distributed with this work for additional
# information regarding copyright ownership.
#
# This program and the accompanying materials are made available under the
# terms of the Apache License Version 2.0 which is available at
# https://www.apache.org/licenses/LICENSE-2.0
#
# SPDX-License-Identifier: Apache-2.0
# *******************************************************************************

load("@rules_rust//rust:defs.bzl", "rust_binary", "rust_library")

COM_BACKENDS = [
"com_iox2",
"com_linux_shm",
"com_mw",
]

SIGNALLINGS = [
"direct_tcp",
"direct_unix",
"relayed_tcp",
"relayed_unix",
# Not yet merged
# "direct_mw_com",
]

COMMON_DEPS = [
"//src/feo:libfeo_rust",
"//src/feo-com:libfeo_com_rust_mw_com", # libfeo uses _mw_com feo-com, so we must use the same
"//src/feo-time:libfeo_time_rust",
"//src/feo-tracing:libfeo_tracing_rust",
"@score_baselibs_rust//src/log/score_log",
"@score_communication//score/mw/com/impl/rust/com-api/com-api",
"//examples/rust/mini-adas/mini-adas-gen:mini_adas_gen_rs_mw_com",
]

LIBRARY_COMMON_DEPS = COMMON_DEPS + [
"@score_crates//:tracing",
]

BINARY_COMMON_DEPS = COMMON_DEPS + [
"@score_baselibs_rust//src/log/stdout_logger",
]

# Generate mini-adas bazel targets for each and every combination of COM backend
# and signalling implementation
# Input:
# lib_srcs - source files of the library
# primary_srcs - source files of the primary agent
# secondary_srcs - source files of the secondary agent
# primary_data - data files of the primary agent
# secondary_data - data files of the secondary agent
# env - envioronment variables of the binaries
# Generates adas_{com backend}_signalling_{signalling} library and two binaries:
# adas_primary_{com backend}_signalling_{signalling}
# and adas_secondary_{com backend}_signalling_{signalling}
def _adas_variants_impl(name, visibility, lib_srcs, primary_srcs, secondary_srcs, primary_data, secondary_data, env):
for backend in COM_BACKENDS:
for signalling in SIGNALLINGS:
signalling_feature = "signalling_" + signalling
crate_features = [backend, signalling_feature]
library_name = "adas_{}_{}".format(backend, signalling)

rust_library(
name = library_name,
crate_name = "adas",
visibility = visibility,
crate_features = crate_features,
srcs = lib_srcs,
deps = LIBRARY_COMMON_DEPS,
)

rust_binary(
name = "adas_primary_{}_{}".format(backend, signalling),
crate_name = "adas_primary",
visibility = visibility,
crate_features = crate_features,
srcs = primary_srcs,
data = primary_data,
env = env,
deps = BINARY_COMMON_DEPS + [":" + library_name],
)

rust_binary(
name = "adas_secondary_{}_{}".format(backend, signalling),
crate_name = "adas_secondary",
visibility = visibility,
crate_features = crate_features,
srcs = secondary_srcs,
data = secondary_data,
env = env,
deps = BINARY_COMMON_DEPS + [":" + library_name],
)

adas_variants = macro(
implementation = _adas_variants_impl,
attrs = {
"lib_srcs": attr.label_list(allow_files = True),
"primary_srcs": attr.label_list(allow_files = True),
"secondary_srcs": attr.label_list(allow_files = True),
"primary_data": attr.label_list(allow_files = True, default = []),
"secondary_data": attr.label_list(allow_files = True, default = []),
"env": attr.string_dict(default = {}),
},
)
13 changes: 6 additions & 7 deletions examples/rust/mini-adas/src/activities/input.rs
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Expand Up @@ -17,15 +17,12 @@ use feo_com::interface::ActivityInput;
#[cfg(feature = "com_mw")]
use crate::config::mw_com_runtime;

#[cfg(not(feature = "com_mw"))]
use score_log::fmt::ScoreDebug;

#[cfg(not(feature = "com_mw"))]
use core::fmt::Debug;

#[cfg(feature = "com_mw")]
use score_log::debug;

#[cfg(not(feature = "com_mw"))]
use feo_com::interface::FeoComData;

#[cfg(feature = "com_mw")]
use com_api::{
Builder, FindServiceSpecifier, InstanceSpecifier, Interface, LolaRuntimeImpl, Runtime, ServiceDiscovery,
Expand Down Expand Up @@ -87,8 +84,10 @@ pub fn create_consumer<I: Interface + Send>(topic: &str) -> <I as Interface>::Co
#[cfg(not(feature = "com_mw"))]
pub fn activity_input<T>(topic: &str) -> Box<dyn ActivityInput<T>>
where
T: Debug + ScoreDebug + 'static,
T: FeoComData + 'static,
{
#[cfg(feature = "com_iox2")]
use feo_com::iox2::Iox2Input;
#[cfg(feature = "com_linux_shm")]
use feo_com::linux_shm::LinuxShmInput;

Expand Down
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