feat(zenorb): zoci ext methods

[vmenge]

changes

adds and documents extension methods for the Zenoh Orb Command Interface: small helpers for sending commands using zenoh queries and using strings/json underneath

small example, using utility methods:

• Query::args
• Query::res
• zenorb::Session::command_raw
• Result<Reply, ReplyErr>::json

use zenorb::zoci::{ReplyExt, ZociQueryExt};

blue.receiver(())
    .queryable("tuple", async |_ctx, query| {
        let args: (String, String) = query.args()?;
        query.res(&args).await?;

        Ok(())
    })
    .run()
    .await?;

let red = Zenorb::from_cfg(client_cfg.clone())
    .orb_id(orb_id.clone())
    .with_name("red")
    .await?;

let reply = red.command_raw("blue/tuple", "one two").await?;
let reply: Result<(String, String), String> = reply.json()?;

[sky-mart]

2 results?

[vmenge]

yeee

1st one is infra error
2nd one must be handled, ReplyErr contains actual error payload which is nice from zenoh

look a little awkward on type but usage in practice is pretty smooth bc outer error is color_eyre (see tests / examples)

[sky-mart]

I'm not yet familiar with all rust features used, but overall looks good.
I don't get 2 things:

1. Where is the command finally executed?
2. Can I create my util using this crate to connect to an orb's zenoh and run commands on an orb?

[vmenge]

I'm not yet familiar with all rust features used, but overall looks good. I don't get 2 things:

1. Where is the command finally executed?
2. Can I create my util using this crate to connect to an orb's zenoh and run commands on an orb?

1. if you declare it in a zenorb::Receiver, its guaranteed to run in a tokio::task in the background once run is called (example)

2. yeee 100% :D (tho only dev orbs)