peranger/AimRT
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity
AimRT/document/sphinx-cn/tutorials/examples/examples_py.md

18 lines
1.0 KiB
Markdown
Raw Normal View History

update v0.8.0
2024-09-23 16:01:31 +08:00
# Python 接口使用示例
AimRT 提供了以下 Python 接口使用示例：
- {{ '[python examples]({}/src/examples/py)'.format(code_site_root_path_url) }}
- {{ '[helloworld]({}/src/examples/py/helloworld)'.format(code_site_root_path_url) }}
update
2024-09-30 17:22:32 +08:00
- {{ '[pb_chn]({}/src/examples/py/pb_chn)'.format(code_site_root_path_url) }}
- {{ '[pb_rpc]({}/src/examples/py/pb_rpc)'.format(code_site_root_path_url) }}
feat: add aimrt_py benchmark publisher and subscriber applications (#28) * feat: add aimrt_py benchmark publisher and subscriber applications Introduce new benchmark publisher and subscriber modules, enabling performance testing with custom configuration. Includes necessary YAML configuration files and scripts for simulation of message publishing and receiving. * style: correct message size formatting Update the log message to use "bytes" for clarity and consistency in reporting metrics. * feat: add python benchmark example and update dependencies Introduce an aimrt_py benchmark example for Python testing. Replace boost dependency with the standalone asio library to reduce overall dependencies and enhance configuration options for zenoh and mqtt. * feat: add aimrt_py channel benchmark example Introduce a new benchmark example for aimrt_py to enhance Python benchmarking capabilities and provide clearer insights into performance metrics. * format code * style: format loss rate output Remove the percentage symbol from the loss rate display for a cleaner presentation. * docs: update release notes for v0.9.0 Clarify new features, config options, and dependency changes, including the addition of the aimrt_py channel benchmark example and removal of boost dependencies in favor of asio. * docs: add benchmark example to Python interfaces section Include a new link for the pb_chn_bench example to enhance the documentation and provide users with more comprehensive usage scenarios. * docs: add README for protobuf channel benchmark example Provide instructions on setting up and running a Python channel benchmark using protobuf with HTTP backend. Include details on core modules, configuration, and execution steps to enhance usability and understanding. * docs: update installation instructions to link to quick start guide Enhance user experience by providing direct access to the installation guide for the `aimrt_py` package, improving clarity and reducing search time for new users. * docs: correct grpc reference in README Update the section title to accurately reflect the protocol being used, enhancing clarity for users.
2024-10-16 14:03:05 +08:00
- {{ '[pb_chn_bench]({}/src/examples/py/pb_chn_bench)'.format(code_site_root_path_url) }}
feat: add aimrt_py rpc benchmark example (#37) * feat: add python benchmark example and update dependencies Introduce an aimrt_py benchmark example for Python testing. Replace boost dependency with the standalone asio library to reduce overall dependencies and enhance configuration options for zenoh and mqtt. * feat: add RPC benchmark client and configuration Introduce a new benchmark client module and accompanying scripts to facilitate testing and performance measurement of RPC services. Include configuration for parallel execution and adjustable benchmarking parameters. * docs: add benchmark process for protobuf RPC Include detailed instructions for reproducing the crash issue and running benchmarks effectively to streamline troubleshooting and performance evaluation. * chore: include string header Add the string header to enable potential future string manipulations within the RPC handling code. This sets the stage for improved functionality and cleaner code integration down the line. * feat: enhance benchmark reporting and logging Improve performance benchmarking by logging detailed results, including latency metrics and error rates. Ensure more precise measurements by using microseconds for task duration and substituting print statements with structured logging. * chore: update benchmark configurations for clarity and accuracy Refine the benchmark plans to provide clearer settings. Adjust parameters for the fixed-frequency mode to ensure more relevant testing scenarios. * chore: add script and config files for HTTP server examples Include new symbolic links for server configuration and application scripts to streamline example setup and ensure consistency across projects. * docs: update README for better clarity on python RPC benchmark setup Enhance the README to provide a clearer guide on using the protobuf RPC benchmark example, including setup instructions, core files, and configuration details. This improves user experience and facilitates easier implementation for developers. * style: correct casing in module name Standardize the module name casing for improved consistency and readability in the RPC server application. * docs: add pb_rpc_bench example link Include the link to the pb_rpc_bench example for better accessibility and completeness in the tutorial. * style: clean up code formatting Remove unnecessary blank lines to improve readability in the benchmark RPC client module. * docs: modify aimrt_py rpc release note
2024-10-18 16:33:58 +08:00
- {{ '[pb_rpc_bench]({}/src/examples/py/pb_rpc_bench)'.format(code_site_root_path_url) }}
feat: aimrt_py support ros2 protocol interface (#95) * feat: add checks for ROS 2 message type support Implement validation functions to ensure message or service types are compliant with ROS 2 standards, enhancing compatibility and error handling when integrating ROS 1 and ROS 2 environments. * build: update file globbing to include configure dependencies Ensure source files are automatically detected during configuration by adding CONFIGURE_DEPENDS to the file globbing commands for C++ and Python files. This improves build reliability as it accounts for changes in the file structure. * feat: add ROS2 message support and enhance publishing functionality Implement functions to register, publish, and subscribe to ROS2 messages, improving interoperability with ROS2 systems. Adjust type support to handle both protobuf and ROS2 message types, streamlining the process of message serialization and ensuring robustness in message handling. * feat: add HTTP and ROS2 example configurations and applications Introduce example configurations and applications for both HTTP and ROS2 channels, enabling greater flexibility and showcasing the capabilities of the system for publishing and subscribing to messages. * chore: disable unimplemented copy and move functions Throw runtime errors for the unimplemented copy and move methods to ensure clarity on their current status and prevent accidental usage. * feat: enhance message publishing with iteration and logging Implement continuous publishing of messages with incremental identifiers in the publisher application. Update the subscriber to log message count, improving visibility into received messages. * refactor: reorganize and encapsulate ROS2 message handling functionality Streamline the handling of ROS2 messages by encapsulating related functionality into a new utility header file. This enhances code clarity and maintainability while adhering to best practices in modular design. * refactor: streamline protobuf and ROS2 message publishing Enhance context handling and unify publish type registration for better clarity and usability. Simplify serialization type management and improve the architecture for future extensions, particularly for messaging features. * refactor: streamline messaging functions Enhance message publishing by consolidating function calls and improving clarity. Update context handling to better support message serialization types, allowing for a more flexible interaction with both protobuf and ROS2 messages. * refactor: simplify message subscription handling and reduce publish frequency Adjust the message subscription method to handle both Protobuf and ROS2 message types more efficiently and eliminate redundant subscription functions. Decrease the publishing frequency in the example app for improved performance and readability. * fix: remove unnecessary error message for ROS 1 type detection Eliminate confusion by removing the printed warning about ROS 1 message types, as it was not providing significant value in handling unsupported types. * docs: update README and add ros2 channel examples Clarify publisher behavior in examples and provide comprehensive documentation for ros2 channel implementations. * feat: support ros2 message types in aimrt_py channel Add support for ros2 message types in the aimrt_py channel to enhance interoperability with ROS2-based applications. * fix: improve error handling during ROS2 message serialization and deserialization Enhance robustness by adding exception handling to ensure the process correctly handles serialization and deserialization failures, improving overall stability in handling ROS2 messages. * fix: correct argument validation and formatting Remove unnecessary whitespace and enhance error handling for argument types in the publishing function, ensuring clear type checking and preventing potential runtime errors. * refactor: streamline message conversion logic Simplify the conversion of ROS2 messages to Python objects by moving the conversion logic inline. This eliminates unnecessary function calls and improves performance while maintaining clarity in the subscription method. * feat: add ROS2 support to Python runtime Enable linking and compilation of ROS2 interfaces based on the build configuration. This improves flexibility by allowing the Python runtime to interface with ROS2 when needed, enhancing interoperability and feature set. * feat: enhance message type handling for publishers and subscribers Add utility functions to generate names for ROS2 and protobuf message types, centralizing logic for type name creation. Update the publisher and subscriber to utilize these functions, improving code readability and maintainability while ensuring accurate message type management. * feat: update message types to use RosTestMsg for better compatibility Register new message type RosTestMsg in both publisher and subscriber applications. Update data format for publishing events to improve clarity and consistency in message handling. Ensure proper setup in the shell scripts for localization configuration. * chore: consolidate pybind11 includes Simplify header files by removing redundant pybind11 includes, reducing clutter and improving maintainability. * docs: add ROS2 message support details and example links Enhance the documentation by including information on ROS2 message formats and how to generate corresponding Python code. This provides users with clearer guidance on integrating ROS2 functionality within the project. * chore: update copyright information to reflect new authorship Update copyright year and licensing information across multiple configuration files and application scripts to maintain proper attribution for the AimRT project. * feat: add ROS2 RPC client and server examples with configurations Introduce example applications for ROS2 RPC communication, including client and server scripts, along with necessary configuration files. Implement a build script to set up the protocol buffers correctly, enhancing usability by supporting both HTTP and gRPC backends. * feat: update RPC request and response handling Refactor the RPC client and server implementations to utilize the updated request and response types from the example ROS2 service, improving code clarity and ensuring compatibility with the new service structure. * refactor: simplify RPC response handling Remove unnecessary response object instantiation and streamline the response creation process for improved clarity and efficiency in the RPC invocation logic. * refactor: streamline publisher and subscriber method names Simplify method names related to publishing and subscribing to enhance readability and maintainability. Transition from a prefix-based naming convention to a more concise approach, ensuring consistency across the codebase. * chore: update configuration file paths for gRPC client and server examples Align the configuration file paths in the example scripts to use the gRPC-specific settings, ensuring the correct configuration is utilized for both the client and server. * refactor: rename internal methods for clarity Improve naming conventions for protobuf message type functions, enhancing code readability and maintainability. Update related usages to keep consistent across the runtime and RPC generator. * feat: add service type validation and improve bash scripts Introduce a new bash script for debugging the ROS2 client and enhance existing scripts with proper sourcing. Implement service type validation to ensure the reliability of service registration. This improves the robustness of RPC interactions and simplifies the setup process for developers. * feat: extend RPC response data structure and improve logging Add additional data types to the RosTestRpc response for enhanced functionality. Set logging level to trace for more detailed output during execution. * feat: add support for static and dynamic arrays in RPC service Enhance the RPC service by introducing static and dynamic array types for various data types, enabling more complex data handling in requests and responses. This improves flexibility and usability for clients interacting with the service. * feat: add support for new ROS message types Enhance the RPC server to handle additional ROS message types, including dynamic and static arrays of custom data structures. This improves the server's data handling capabilities and aligns with the updated service specifications. * refactor: improve type mapping and message copy functions Update type mappings for better consistency and clarity. Enhance the readability of message copying functions by formatting multi-line expressions. * refactor: improve message copying and moving functions Enhance the handling of ROS message copying and moving by updating the parameter order and adding tailored move functions for better memory management. This optimizes the performance of message manipulations and ensures cleaner, more maintainable code. * refactor: simplify message type support functions Remove inline implementations and enhance readability of message type support functions, while maintaining functionality and improving code organization. * refactor: streamline ROS message handling and improve introspection support Enhance readability and maintainability by cleaning up function definitions related to ROS message type support. Implement a more robust method for obtaining message members information, addressing potential failure scenarios. Adjust example service implementation for consistency in dynamic data handling. * fix: ensure pointers for ROS message creation and destruction are valid Throw runtime exceptions if the function pointers for creating or destroying ROS messages are null, enhancing error handling and stability during object initialization. * feat: enhance RosTestRpc method signature for better type safety Improve the RosTestRpc method by adding overloads for different argument configurations, ensuring clearer type expectations and reducing potential runtime errors. This change aids in maintaining robust interactions with the ROS2 service framework. * refactor: simplify parameter naming in RPC proxy function Rename the `ctx_ref` parameter to `ctx` in the RPC function signature for cleaner and more concise code. This enhances readability and maintains consistency across the codebase. * fix: restrict static array sizes in RosTestRpc service Limit the size of static array fields to three elements each for better resource management and to prevent potential overflow issues. * feat: enhance python runtime generation for ROS2 services Add support for generating code from ROS2 service definitions, improving interoperability with the aimrt framework. Update build scripts to include new generation scripts and ensure file dependencies are configured correctly. * refactor: update RPC service and client implementations to use ROS2 naming convention Modify scripts to utilize the new aimrt_py-gen-ros2-rpc tool and update service and client references accordingly for consistency and clarity. Remove deprecated code to streamline functionality and improve maintainability. * chore: update .gitignore to exclude generated files Add pattern to ignore *_aimrt_rpc_ros2.py files to keep the repository clean from auto-generated files. * refactor: streamline response structure for RosTestRpc Remove unused fields from RosTestRpc response to simplify the data structure and enhance clarity. Adjust logging level for better control over output verbosity. * chore: update log level to INFO for consistency Adjust the core log level to INFO to ensure a more standard logging output and reduce unnecessary verbosity in the logs. * docs: add README for ros2 rpc examples Provide detailed instructions and explanations for setting up and running Python RPC examples using ros2 protocols with HTTP, gRPC, and native ros2 backends. * feat: enhance aimrt_py channel with rpc support for ros2 message types Add support for ros2 message types in both aimrt_py channel and rpc to improve compatibility and functionality. * docs: add ros2_rpc example to Python interface section Include a new example link to enhance the documentation and provide more resources for users exploring the Python interfaces. * chore: add spacing for improved readability in service proxy class Improve code readability by adding blank lines in the service proxy class definition. * chore: standardize argument names for RPC generator Update argument names in the RPC generation script and implementation for consistency, enhancing readability and usability. * docs: update RPC documentation to include ROS2 Srv support Add examples and instructions for using ROS2 Srv in RPC, enhancing integration options for developers. Adjust existing protobuf references for clarity and consistency. * style: standardize whitespace in RosTestRpc.srv Improve readability by ensuring consistent spacing in the service definition. * build: exclude ROS2 specific files from the build if not using ROS2 Remove ROS2-related source files from the compilation when the project is configured without ROS2 support, helping to streamline the build process and avoid unnecessary dependencies. * style: add missing newline at end of file for consistency * refactor: rename copy function to improve clarity Refactor the function used for copying messages within dynamic arrays to better convey its functionality. This change enhances code readability and maintainability. --------- Co-authored-by: zhangyi <zhangyi@agibot.com>
2024-11-21 11:48:44 +08:00
- {{ '[ros2_chn]({}/src/examples/py/ros2_chn)'.format(code_site_root_path_url) }}
- {{ '[ros2_rpc]({}/src/examples/py/ros2_rpc)'.format(code_site_root_path_url) }}
update v0.8.0
2024-09-23 16:01:31 +08:00
关于这些示例的说明：
- 每个示例都有自己独立的 readme 文档，详情请点击示例链接进入后查看；
- 运行示例前需要确保本地已经安装有 `aimrt_py` 包，安装方式请参考[引用与安装（Python）](../quick_start/installation_py.md)；
Reference in New Issue Copy Permalink