refactor(echo_plugin): Remove executor configuration and simplify echo logic (#78)
* refactor(echo_plugin): Remove executor configuration and simplify echo logic - Removed executor field from echo_plugin configuration - Simplified echo message handling process by processing directly in main thread - Updated example configurations and descriptions in documentation * refactor(echo_plugin): Refactor EchoPlugin class - Remove get_type_support_func_ member variable, replace with direct GetTypeSupport method call in RegisterEchoChannel - Merge EchoFunc creation and subscription callback logic to reduce intermediate variables * refactor(echo_plugin): Remove GetTypeSupport function, directly access type_support_map where needed * refactor(echo_plugin): Remove unused headers and member functions * refactor(echo_plugin): Remove unnecessary 'this' capture in lambda expression * refactor(echo_plugin): optimize buffer handling logic in EchoPlugin * format * fix(echo_plugin): add release_callback func before return in sub_wrapper.callback --------- Co-authored-by: yuguanlin <yuguanlin@agibot.com>
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@ -16,7 +16,6 @@
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| ---- | ---- | ---- | ---- | ---- |
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| type_support_pkgs | array | 必选 | [] | type support 包配置 |
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| type_support_pkgs[i].path | string | 必选 | "" | type support 包的路径 |
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| executor | string | 可选 | "" | 回显使用的执行器，要求必须是线程安全 |
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| topic_meta_list | array | 必选 | [] | 要回显的 topic 和类型 |
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| topic_meta_list[j].topic_name | string | 必选 | "" | 要回显的 topic |
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| topic_meta_list[j].msg_type | string | 必选 | "" | 要回显的消息类型 |
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@ -25,11 +24,10 @@
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### 回显消息的简单示例配置
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回显消息的存在两种配置，分别是 是否指定执行器 和 回显消息的格式：
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- 是否指定执行器： 插件会使用指定的执行器来处理回显消息，如果未指定执行器，则使用默认的执行器；
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- 回显消息的格式： ros2 消息类型 支持 "json", "yaml" ， pb只支持 "json"
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以下是一个带执行器的回显消息格式为 json 的简单示例配置：
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对于回显消息的格式，ros2 消息类型 支持 "json", "yaml" ， pb只支持 "json"
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以下是一个 pb 消息类型回显消息格式为 json 的简单示例配置：
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```yaml
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aimrt:
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plugin:
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@ -39,7 +37,6 @@ aimrt:
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options:
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type_support_pkgs:
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- path: ./libexample_event_ts_pkg.so
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executor: echo_executor
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topic_meta_list:
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- topic_name: test_topic
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msg_type: pb:aimrt.protocols.example.ExampleEventMsg
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@ -48,16 +45,12 @@ aimrt:
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core_lvl: Info # Trace/Debug/Info
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backends:
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- type: console
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executor:
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executors:
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- name: echo_executor
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type: simple_thread
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channel:
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# ...
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```
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以下是一个不带执行器的回显消息格式为 json 的简单示例配置：
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以下是一个 ros2 消息类型回显消息格式为 yaml 的简单示例配置：
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```yaml
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aimrt:
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plugin:
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@ -69,16 +62,12 @@ aimrt:
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- path: ./libexample_event_ts_pkg.so
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topic_meta_list:
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- topic_name: test_topic
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msg_type: pb:aimrt.protocols.example.ExampleEventMsg
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echo_type: json
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msg_type: ros2:example_ros2/msg/RosTestMsg
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echo_type: yaml
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log:
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core_lvl: Info # Trace/Debug/Info
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backends:
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- type: console
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executor:
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executors:
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- name: echo_executor
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type: simple_thread
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channel:
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# ...
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```
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@ -1,41 +1,11 @@
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# echo plugin examples
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## echo with executor
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一个基于 **echo_plugin** 的带执行器的回显消息示例，演示内容包括：
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- 如何在启动时加载 **echo_plugin**；
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- 如何回显指定 topic、msg 类型的数据；
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- 如何为 **echo_plugin** 配置执行器；
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核心代码：
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- [event.proto](../../../protocols/example/event.proto)
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- [normal_publisher_module.cc](../../cpp/pb_chn/module/normal_publisher_module/normal_publisher_module.cc)
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- [type_support_pkg_main.cc](./example_event_ts_pkg/type_support_pkg_main.cc)
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配置文件：
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- [examples_plugins_echo_plugin_pb_executor_cfg.yaml](./install/linux/bin/cfg/examples_plugins_echo_plugin_pb_executor_cfg.yaml)
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运行方式（linux）：
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- 开启 `AIMRT_BUILD_EXAMPLES`、`AIMRT_BUILD_WITH_PROTOBUF`、`AIMRT_BUILD_WITH_ROS2` 、`AIMRT_BUILD_WITH_ECHO_PLUGIN` 选项编译 AimRT；
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- 直接运行 build 目录下`start_examples_plugins_echo_plugin_pb_executor.sh`脚本启动进程；
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- 键入`ctrl-c`停止进程；
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说明：
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- 此示例创建了以下模块：
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- `NormalPublisherModule`：会基于 `work_thread_pool` 执行器，以配置的频率、向配置的 topic 中发布 `ExampleEventMsg` 类型的消息；
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- 此示例加载了 `example_event_ts_pkg`，其中提供了 `ExampleEventMsg` 和 `RosTestMsg` 类型的 type support 工具，作为回显时的序列化工具；
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- 请注意，echo 插件的原理是向 AimRT 订阅指定的 Topic，因此需要在 channel 配置中为该 topic 设置合适的后端，以保证插件能接收到数据；
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## echo without executor
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## echo with pb msg
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一个基于 **echo_plugin** 的回显消息示例，演示内容包括：
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- 如何在启动时加载 **echo_plugin**；
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- 如何回显指定 topic、msg 类型的数据；
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- 如何配置回显 pb 消息；
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核心代码：
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@ -1,54 +0,0 @@
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# Copyright (c) 2023, AgiBot Inc.
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# All rights reserved.
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aimrt:
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plugin:
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plugins:
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- name: echo_plugin
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path: ./libaimrt_echo_plugin.so
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options:
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type_support_pkgs:
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- path: ./libexample_event_ts_pkg.so
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executor: echo_executor
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topic_meta_list:
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- topic_name: test_topic
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msg_type: pb:aimrt.protocols.example.ExampleEventMsg
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echo_type: json
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log:
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core_lvl: Info # Trace/Debug/Info
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backends:
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- type: console
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executor:
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executors:
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- name: echo_executor
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type: simple_thread
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- name: work_thread_pool
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type: asio_thread
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options:
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thread_num: 4
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channel:
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backends:
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- type: local
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options:
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subscriber_use_inline_executor: false
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subscriber_executor: work_thread_pool
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pub_topics_options:
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- topic_name: "(.*)"
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enable_backends: [local]
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sub_topics_options:
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- topic_name: "(.*)"
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enable_backends: [local]
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module:
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pkgs:
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- path: ./libpb_chn_pub_pkg.so
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enable_modules: [NormalPublisherModule]
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modules:
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- name: NormalPublisherModule
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log_lvl: Info
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# Module custom configuration
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NormalPublisherModule:
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topic_name: test_topic
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channel_frq: 0.5
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@ -1,3 +0,0 @@
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#!/bin/bash
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./aimrt_main --cfg_file_path=./cfg/examples_plugins_echo_plugin_pb_executor_cfg.yaml
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@ -23,9 +23,8 @@ struct convert<aimrt::plugins::echo_plugin::EchoPlugin::Options> {
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node["type_support_pkgs"].push_back(type_support_pkg_node);
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}
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node["executor"] = rhs.executor;
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node["topic_meta_list"] = Node(NodeType::Sequence);
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for (const auto& topic_meta : rhs.topic_meta_list) {
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Node topic_meta_node;
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topic_meta_node["topic_name"] = topic_meta.topic_name;
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@ -47,10 +46,6 @@ struct convert<aimrt::plugins::echo_plugin::EchoPlugin::Options> {
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}
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}
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if (node["executor"] && node["executor"].IsScalar()) {
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rhs.executor = node["executor"].as<std::string>();
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}
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if (node["topic_meta_list"] && node["topic_meta_list"].IsSequence()) {
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for (const auto& topic_meta_node : node["topic_meta_list"]) {
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Options::TopicMeta topic_meta;
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@ -101,26 +96,19 @@ bool EchoPlugin::Initialize(runtime::core::AimRTCore* core_ptr) noexcept {
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AIMRT_TRACE("Load {} pkg and {} type.",
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type_support_pkg_loader_vec_.size(), type_support_map_.size());
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RegisterGetTypeSupportFunc(
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[this](std::string_view msg_type) -> aimrt::util::TypeSupportRef {
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auto finditr = type_support_map_.find(msg_type);
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if (finditr != type_support_map_.end())
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return finditr->second.type_support_ref;
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return {};
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});
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for (auto& topic_meta : options_.topic_meta_list) {
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// check msg type
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auto type_support_ref = get_type_support_func_(topic_meta.msg_type);
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AIMRT_CHECK_ERROR_THROW(type_support_ref,
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auto finditr = type_support_map_.find(topic_meta.msg_type);
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AIMRT_CHECK_ERROR_THROW(finditr != type_support_map_.end(),
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"Can not find type '{}' in any type support pkg!", topic_meta.msg_type);
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auto& type_support_ref = finditr->second.type_support_ref;
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// check serialization type
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if (!topic_meta.serialization_type.empty()) {
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bool check_ret = type_support_ref.CheckSerializationTypeSupported(topic_meta.serialization_type);
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AIMRT_CHECK_ERROR_THROW(check_ret,
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"Msg type '{}' does not support serialization type '{}'.",
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topic_meta.msg_type, topic_meta.msg_type);
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topic_meta.msg_type, topic_meta.serialization_type);
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} else {
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topic_meta.serialization_type = type_support_ref.DefaultSerializationType();
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}
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@ -145,18 +133,6 @@ bool EchoPlugin::Initialize(runtime::core::AimRTCore* core_ptr) noexcept {
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topic_meta_map_.emplace(key, topic_meta);
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}
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if (!options_.executor.empty()) {
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core_ptr_->RegisterHookFunc(
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runtime::core::AimRTCore::State::kPostStart,
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[this] {
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RegisterGetExecutorFunc(
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[this](std::string_view executor_name) -> aimrt::executor::ExecutorRef {
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return core_ptr_->GetExecutorManager().GetExecutor(executor_name);
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});
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InitExecutor();
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});
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}
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core_ptr_->RegisterHookFunc(
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runtime::core::AimRTCore::State::kPostInitLog,
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[this] {
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@ -222,41 +198,42 @@ void EchoPlugin::RegisterEchoChannel() {
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for (const auto& topic_meta_itr : topic_meta_list) {
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const auto& topic_meta = topic_meta_itr.second;
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EchoFunc echo_func;
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if (options_.executor.empty()) {
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echo_func = [this, echo_type{topic_meta.echo_type}](
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MsgWrapper& msg_wrapper) {
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Echo(msg_wrapper, echo_type);
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};
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} else {
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echo_func = [this, echo_type{topic_meta.echo_type}](
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MsgWrapper& msg_wrapper) {
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executor_.Execute([this, msg_wrapper{std::move(msg_wrapper)}, echo_type]() mutable {
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Echo(msg_wrapper, echo_type);
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});
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};
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}
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auto finditr = type_support_map_.find(topic_meta.msg_type);
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AIMRT_CHECK_ERROR_THROW(finditr != type_support_map_.end(),
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"Can not find type '{}' in any type support pkg!", topic_meta.msg_type);
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const auto& type_support_ref = finditr->second;
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const auto& type_support_wrapper = finditr->second;
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SubscribeWrapper sub_wrapper;
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sub_wrapper.info = TopicInfo{
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.msg_type = topic_meta.msg_type,
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.topic_name = topic_meta.topic_name,
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.pkg_path = type_support_ref.options.path,
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.pkg_path = type_support_wrapper.options.path,
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.module_name = "core",
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.msg_type_support_ref = type_support_ref.type_support_ref};
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.msg_type_support_ref = type_support_wrapper.type_support_ref};
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sub_wrapper.require_cache_serialization_types.emplace(topic_meta.serialization_type);
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sub_wrapper.callback = [echo_func{std::move(echo_func)}](
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sub_wrapper.callback = [echo_type{topic_meta.echo_type}](
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MsgWrapper& msg_wrapper, std::function<void()>&& release_callback) {
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echo_func(msg_wrapper);
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auto buffer_view_ptr = aimrt::runtime::core::channel::TrySerializeMsgWithCache(msg_wrapper, echo_type);
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if (!buffer_view_ptr) [[unlikely]] {
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AIMRT_ERROR("Can not serialize msg type '{}' with echo type '{}'.",
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msg_wrapper.info.msg_type, echo_type);
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release_callback();
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return;
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}
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if (buffer_view_ptr->Size() == 1) {
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auto data = buffer_view_ptr->Data()[0];
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AIMRT_INFO("\n{}\n---------------\n", std::string_view(static_cast<const char*>(data.data), data.len));
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} else if (buffer_view_ptr->Size() > 1) {
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AIMRT_INFO("\n{}\n---------------\n", buffer_view_ptr->JoinToString());
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} else {
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AIMRT_ERROR("Invalid buffer, topic_name: {}, msg_type: {}", msg_wrapper.info.topic_name, msg_wrapper.info.msg_type);
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}
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release_callback();
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};
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bool ret = core_ptr_->GetChannelManager().Subscribe(std::move(sub_wrapper));
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AIMRT_CHECK_ERROR_THROW(ret, "Subscribe failed!");
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}
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@ -270,45 +247,4 @@ void EchoPlugin::Shutdown() noexcept {
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}
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}
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void EchoPlugin::Echo(runtime::core::channel::MsgWrapper& msg_wrapper, std::string_view echo_type) {
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auto buffer_view_ptr = aimrt::runtime::core::channel::TrySerializeMsgWithCache(msg_wrapper, echo_type);
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if (!buffer_view_ptr) [[unlikely]] {
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AIMRT_ERROR("Can not serialize msg type '{}' with echo type '{}'.",
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msg_wrapper.info.msg_type, echo_type);
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return;
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}
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if (buffer_view_ptr->Size() == 1) {
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const char* data = static_cast<const char*>(buffer_view_ptr->Data()[0].data);
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AIMRT_INFO("\n{}\n---------------\n", std::string_view(data, buffer_view_ptr->Data()[0].len));
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} else if (buffer_view_ptr->Size() > 1) {
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AIMRT_INFO("\n{}\n---------------\n", buffer_view_ptr->JoinToString());
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} else {
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AIMRT_ERROR("Invalid buffer, topic_name: {}, msg_type: {}", msg_wrapper.info.topic_name, msg_wrapper.info.msg_type);
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}
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}
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void EchoPlugin::RegisterGetTypeSupportFunc(
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const std::function<aimrt::util::TypeSupportRef(std::string_view)>& get_type_support_func) {
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get_type_support_func_ = get_type_support_func;
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}
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void EchoPlugin::InitExecutor() {
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AIMRT_CHECK_ERROR_THROW(
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get_executor_func_,
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"Get executor function is not set before initialize.");
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executor_ = get_executor_func_(options_.executor);
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AIMRT_CHECK_ERROR_THROW(
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executor_, "Can not get executor {}.", options_.executor);
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AIMRT_CHECK_ERROR_THROW(
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executor_.ThreadSafe(), "Echo executor {} is not thread safe!", options_.executor);
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}
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void EchoPlugin::RegisterGetExecutorFunc(
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const std::function<executor::ExecutorRef(std::string_view)>& get_executor_func) {
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get_executor_func_ = get_executor_func;
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}
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} // namespace aimrt::plugins::echo_plugin
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@ -18,8 +18,6 @@ namespace aimrt::plugins::echo_plugin {
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class EchoPlugin : public AimRTCorePluginBase {
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public:
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struct Options {
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std::string executor;
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struct TopicMeta {
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std::string topic_name;
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std::string msg_type;
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@ -42,21 +40,12 @@ class EchoPlugin : public AimRTCorePluginBase {
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bool Initialize(runtime::core::AimRTCore* core_ptr) noexcept override;
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void Shutdown() noexcept override;
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const auto& GetTypeSupportMap() const { return type_support_map_; }
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private:
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void InitTypeSupport(Options::TypeSupportPkg& options);
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void InitExecutor();
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void RegisterEchoChannel();
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void RegisterGetTypeSupportFunc(
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const std::function<aimrt::util::TypeSupportRef(std::string_view)>& get_type_support_func);
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void RegisterGetExecutorFunc(
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const std::function<executor::ExecutorRef(std::string_view)>& get_executor_func);
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aimrt::executor::ExecutorRef executor_;
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private:
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runtime::core::AimRTCore* core_ptr_ = nullptr;
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Options options_;
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@ -75,11 +64,6 @@ class EchoPlugin : public AimRTCorePluginBase {
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std::unordered_map<std::string_view, TypeSupportWrapper> type_support_map_;
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std::unordered_map<TopicMetaKey, TopicMeta, TopicMetaKey::Hash> topic_meta_map_;
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std::function<aimrt::util::TypeSupportRef(std::string_view)> get_type_support_func_;
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std::function<executor::ExecutorRef(std::string_view)> get_executor_func_;
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void Echo(runtime::core::channel::MsgWrapper& msg_wrapper, std::string_view serialization_type);
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};
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} // namespace aimrt::plugins::echo_plugin
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