Dora-Zenoh集成示例

本示例展示如何将Dora与Zenoh连接进行双向通信。

概述

两个组件相互通信：

Dora节点：向Zenoh主题发布和订阅消息
Zenoh应用：通过Zenoh与Dora节点交换消息

结构

dataflow.yml：Dora数据流配置
dora-node/：集成Zenoh的Dora节点实现
zenoh-app/：订阅数据的独立Zenoh应用程序
main.rs：Dora数据流运行器

前置条件

Rust和Cargo
Dora已安装并在PATH中可用，或通过DORA环境变量设置
Zenoh依赖已安装

确保DORA环境变量设置正确：

export DORA=/Users/demo/dora

工作原理

nodes:
    - id: dora-zenoh-publisher
      build: bash -c "cd dora-node && cargo build --release"
      path: ./dora-node/target/aarch64-apple-darwin/release/dora-node
      inputs:
          tick: dora/timer/millis/500

id：节点标识符
build：编译节点的命令
path：编译后二进制文件的位置
inputs：Dora提供一个每500ms发送tick的定时器给此节点

Dora节点：

向dora/data发布“Hello“消息
订阅zenoh/data上的消息

Zenoh应用：

订阅zenoh/data
向dora/data发布消息

运行示例

cargo run --release --example zenoh-dataflow

预期输出

2025-11-02T18:10:49.943542Z  INFO dora_daemon::log:    Initializing Zenoh session... build_id=None dataflow_id=Some("019a45c3-c5d2-7725-85d1-e741573b765e") node_id=Some("dora-zenoh-publisher")
2025-11-02T18:10:49.951918Z  INFO dora_daemon::log:    Declaring Zenoh publisher for 'dora/data'... build_id=None dataflow_id=Some("019a45c3-c5d2-7725-85d1-e741573b765e") node_id=Some("dora-zenoh-publisher")
>> [Subscriber] Received PUT ('dora/data': 'Hello from Dora node! Message #1')
2025-11-02T18:10:49.962553Z  INFO dora_daemon::log:    Declaring Zenoh subscriber for 'zenoh/data'... build_id=None dataflow_id=Some("019a45c3-c5d2-7725-85d1-e741573b765e") node_id=Some("dora-zenoh-publisher")
2025-11-02T18:10:49.972699Z  INFO dora_daemon::log:    Dora node with Zenoh integration started! build_id=None dataflow_id=Some("019a45c3-c5d2-7725-85d1-e741573b765e") node_id=Some("dora-zenoh-publisher")
2025-11-02T18:10:49.977408Z  INFO dora_daemon::log:    Publishing message: Hello from Dora node! Message #1 build_id=None dataflow_id=Some("019a45c3-c5d2-7725-85d1-e741573b765e") node_id=Some("dora-zenoh-publisher")
2025-11-02T18:10:50.444696Z  INFO dora_daemon::log:    Publishing message: Hello from Dora node! Message #2 build_id=None dataflow_id=Some("019a45c3-c5d2-7725-85d1-e741573b765e") node_id=Some("dora-zenoh-publisher")
>> [Subscriber] Received PUT ('dora/data': 'Hello from Dora node! Message #2')
2025-11-02T18:10:50.944559Z  INFO dora_daemon::log:    Publishing message: Hello from Dora node! Message #3 build_id=None dataflow_id=Some("019a45c3-c5d2-7725-85d1-e741573b765e") node_id=Some("dora-zenoh-publisher")
>> [Subscriber] Received PUT ('dora/data': 'Hello from Dora node! Message #3')
2025-11-02T18:10:51.445510Z  INFO dora_daemon::log:    Publishing message: Hello from Dora node! Message #4 build_id=None dataflow_id=Some("019a45c3-c5d2-7725-85d1-e741573b765e") node_id=Some("dora-zenoh-publisher")

源码

完整源码请参考：dora-examples/rust-zenoh-dataflow

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