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feat: Allow custom RPC names for some plugins (#33)

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* Allow custom RPC names for some plugins
This commit is contained in:
wtudio 2024-10-17 16:39:35 +08:00 committed by GitHub
parent 5b85a23678
commit fabac84bb0
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GPG Key ID: B5690EEEBB952194
73 changed files with 154 additions and 76 deletions
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2
document/sphinx-cn/release_notes/v0_9_0.md
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@ -16,3 +16,5 @@
- 升级 jsoncpp 至 1.9.6 版本以优化一些 cmake 问题；
- 新增了 aimrt_py channel benchmark 示例；
- iceoryx 插件在编译前先检查是否存在libacl，不存在则不进行编译；
- 提供 RPC 服务的插件现在支持指定 service name；

5
document/sphinx-cn/tutorials/plugins/log_control_plugin.md
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@ -17,8 +17,11 @@
**log_control_plugin**中注册了一个基于 protobuf 协议定义的 RPC，提供了针对 Log 的一些运行时管理接口。请注意，**log_control_plugin**没有提供任何通信后端，因此本插件一般要搭配其他通信插件的 RPC 后端一块使用，例如[net_plugin](./net_plugin.md)中的 http RPC 后端。
插件的配置项如下：
在当前版本，本插件没有插件级的配置。
| 节点 | 类型 | 是否可选| 默认值 | 作用 |
| ---- | ---- | ---- | ---- | ---- |
| service_name | string | 可选 | "" | RPC Service Name，不填则使用根据协议生成的默认值 |
以下是一个简单的配置示例，将**log_control_plugin**与**net_plugin**中的 http RPC 后端搭配使用：

9
document/sphinx-cn/tutorials/plugins/parameter_plugin.md
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@ -14,8 +14,15 @@
**parameter_plugin**中注册了一个基于 protobuf 协议定义的 RPC，提供了针对 Parameter 的一些管理接口。请注意，**parameter_plugin**没有提供任何通信后端，因此本插件一般要搭配其他通信插件的 RPC 后端一块使用，例如[net_plugin](./net_plugin.md)中的 http RPC 后端。
插件的配置项如下：
| 节点 | 类型 | 是否可选| 默认值 | 作用 |
| ---- | ---- | ---- | ---- | ---- |
| service_name | string | 可选 | "" | RPC Service Name，不填则使用根据协议生成的默认值 |
以下是一个简单的配置示例，将**parameter_plugin**与**net_plugin**中的 http RPC 后端搭配使用：
在当前版本，本插件没有插件级的配置。以下是一个简单的配置示例，将**parameter_plugin**与**net_plugin**中的 http RPC 后端搭配使用：
```yaml
aimrt:

3
document/sphinx-cn/tutorials/plugins/record_playback_plugin.md
View File

@ -23,6 +23,7 @@
| 节点 | 类型 | 是否可选| 默认值 | 作用 |
| ---- | ---- | ---- | ---- | ---- |
| service_name | string | 可选 | "" | RPC Service Name，不填则使用根据协议生成的默认值 |
| type_support_pkgs | array | 可选 | [] | type support 包配置 |
| type_support_pkgs[i].path | string | 必选 | "" | type support 包的路径 |
| record_actions | array | 可选 | [] | 录制动作配置 |
@ -71,7 +72,7 @@ aimrt:
path: ./libaimrt_record_playback_plugin.so
options:
type_support_pkgs:
- path: ./libexample_event_type_support_pkg.so
- path: ./libexample_event_ts_pkg.so
record_actions:
- name: my_signal_record
options:

8
document/sphinx-cn/tutorials/plugins/time_manipulator_plugin.md
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@ -15,8 +15,14 @@
**time_manipulator_plugin**中提供了`time_manipulator`执行器，可以实现时间调速功能。同时注册了一个基于 protobuf 协议定义的 RPC，提供了对于`time_manipulator`执行器的一些管理接口。请注意，**time_manipulator_plugin**没有提供任何通信后端，因此本插件一般要搭配其他通信插件的 RPC 后端一块使用，例如[net_plugin](./net_plugin.md)中的 http RPC 后端。
插件的配置项如下：
在当前版本，本插件没有插件级的配置。以下是一个简单的配置示例，将**time_manipulator_plugin**与**net_plugin**中的 http RPC 后端搭配使用：
| 节点 | 类型 | 是否可选| 默认值 | 作用 |
| ---- | ---- | ---- | ---- | ---- |
| service_name | string | 可选 | "" | RPC Service Name，不填则使用根据协议生成的默认值 |
以下是一个简单的配置示例，将**time_manipulator_plugin**与**net_plugin**中的 http RPC 后端搭配使用：
```yaml
aimrt:

2
src/examples/plugins/record_playback_plugin/CMakeLists.txt
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@ -8,7 +8,7 @@ string(REGEX REPLACE ".*/\(.*\)" "\\1" CUR_DIR ${CMAKE_CURRENT_SOURCE_DIR})
set_namespace()
# type_support_pkg
add_subdirectory(example_event_type_support_pkg)
add_subdirectory(example_event_ts_pkg)
# install
if(CMAKE_SYSTEM_NAME MATCHES "Linux")

16
src/examples/plugins/record_playback_plugin/README.md
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@ -12,7 +12,7 @@
- [event.proto](../../../protocols/example/event.proto)
- [normal_publisher_module.cc](../../cpp/pb_chn/module/normal_publisher_module/normal_publisher_module.cc)
- [normal_subscriber_module.cc](../../cpp/pb_chn/module/normal_subscriber_module/normal_subscriber_module.cc)
- [type_support_pkg_main.cc](./example_event_type_support_pkg/type_support_pkg_main.cc)
- [type_support_pkg_main.cc](./example_event_ts_pkg/type_support_pkg_main.cc)
配置文件：
@ -30,7 +30,7 @@
- 此示例创建了以下两个模块：
- `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；
- `NormalSubscriberModule`：会订阅配置的 topic 下的 `ExampleEventMsg` 类型的消息；
- 此示例加载了 `example_event_type_support_pkg`，其中提供了 `ExampleEventMsg` 类型的 type support 工具，作为录包时的序列化工具；
- 此示例加载了 `example_event_ts_pkg`，其中提供了 `ExampleEventMsg` 类型的 type support 工具，作为录包时的序列化工具；
- 此示例创建了一个 `my_imd_record` 的录包 action，会在进程启动时立即开始录制指定的 topic 下的 msg，录制下来的包存放在进程同目录下的 `bag` 路径下；
- 请注意，录包的原理是向 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，以保证录包插件能接收到数据；
@ -49,7 +49,7 @@
- [event.proto](../../../protocols/example/event.proto)
- [normal_publisher_module.cc](../../cpp/pb_chn/module/normal_publisher_module/normal_publisher_module.cc)
- [normal_subscriber_module.cc](../../cpp/pb_chn/module/normal_subscriber_module/normal_subscriber_module.cc)
- [type_support_pkg_main.cc](./example_event_type_support_pkg/type_support_pkg_main.cc)
- [type_support_pkg_main.cc](./example_event_ts_pkg/type_support_pkg_main.cc)
配置文件：
@ -70,7 +70,7 @@
- 此示例创建了以下两个模块：
- `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；
- `NormalSubscriberModule`：会订阅配置的 topic 下的 `ExampleEventMsg` 类型的消息；
- 此示例加载了 `example_event_type_support_pkg`，其中提供了 `ExampleEventMsg` 类型的 type support 工具，作为录包时的序列化工具；
- 此示例加载了 `example_event_ts_pkg`，其中提供了 `ExampleEventMsg` 类型的 type support 工具，作为录包时的序列化工具；
- 此示例创建了一个 `my_signal_record` 的录包 action，会在接收到开始录制的 rpc 请求后录制指定的 topic 下的 msg，在接收到停止录制的 rpc 请求后结束录制，录制下来的包存放在进程同目录下的 `bag` 路径下；
- 请注意，录包的原理是向 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，以保证录包插件能接收到数据；
@ -86,7 +86,7 @@
核心代码：
- [event.proto](../../../protocols/example/event.proto)
- [normal_subscriber_module.cc](../../cpp/pb_chn/module/normal_subscriber_module/normal_subscriber_module.cc)
- [type_support_pkg_main.cc](./example_event_type_support_pkg/type_support_pkg_main.cc)
- [type_support_pkg_main.cc](./example_event_ts_pkg/type_support_pkg_main.cc)
配置文件：
@ -103,7 +103,7 @@
说明：
- 此示例创建了 `NormalSubscriberModule`，会订阅配置的 topic 下的 `ExampleEventMsg` 类型的消息；
- 此示例加载了 `example_event_type_support_pkg`，其中提供了 `ExampleEventMsg` 类型的 type support 工具，作为播放时的反序列化工具；
- 此示例加载了 `example_event_ts_pkg`，其中提供了 `ExampleEventMsg` 类型的 type support 工具，作为播放时的反序列化工具；
- 此示例创建了一个 `my_imd_playback` 的播包 action，会在进程启动时加载数据包，并立即开始播放其中指定的 topic 下的 msg；
- 请注意，播包的原理是向 AimRT 发布指定的 Topic，因此需要在 channel 配置中为该 topic 设置合适的后端，以保证数据能够通过指定的后端发布出去；
@ -122,7 +122,7 @@
核心代码：
- [event.proto](../../../protocols/example/event.proto)
- [normal_subscriber_module.cc](../../cpp/pb_chn/module/normal_subscriber_module/normal_subscriber_module.cc)
- [type_support_pkg_main.cc](./example_event_type_support_pkg/type_support_pkg_main.cc)
- [type_support_pkg_main.cc](./example_event_ts_pkg/type_support_pkg_main.cc)
配置文件：
@ -142,7 +142,7 @@
说明：
- 此示例创建了 `NormalSubscriberModule`，会订阅配置的 topic 下的 `ExampleEventMsg` 类型的消息；
- 此示例加载了 `example_event_type_support_pkg`，其中提供了 `ExampleEventMsg` 类型的 type support 工具，作为播放时的反序列化工具；
- 此示例加载了 `example_event_ts_pkg`，其中提供了 `ExampleEventMsg` 类型的 type support 工具，作为播放时的反序列化工具；
- 此示例创建了一个 `my_signal_playback` 的播包 action，会在进程启动时加载数据包，并在接收到开始播放的 rpc 请求后播放指定的 topic 下的 msg，在接收到停止播放的 rpc 请求后结束播放，
- 请注意，播包的原理是向 AimRT 发布指定的 Topic，因此需要在 channel 配置中为该 topic 设置合适的后端，以保证数据能够通过指定的后端发布出去；

0
src/examples/plugins/record_playback_plugin/example_event_type_support_pkg/CMakeLists.txt → src/examples/plugins/record_playback_plugin/example_event_ts_pkg/CMakeLists.txt
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0
src/examples/plugins/record_playback_plugin/example_event_type_support_pkg/type_support_pkg_main.cc → src/examples/plugins/record_playback_plugin/example_event_ts_pkg/type_support_pkg_main.cc
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2
src/examples/plugins/record_playback_plugin/install/linux/bin/cfg/examples_plugins_record_playback_plugin_playback_imd_cfg.yaml
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@ -8,7 +8,7 @@ aimrt:
path: ./libaimrt_record_playback_plugin.so
options:
type_support_pkgs:
- path: ./libexample_event_type_support_pkg.so
- path: ./libexample_event_ts_pkg.so
playback_actions:
- name: my_imd_playback
options:

2
src/examples/plugins/record_playback_plugin/install/linux/bin/cfg/examples_plugins_record_playback_plugin_playback_signal_cfg.yaml
View File

@ -15,7 +15,7 @@ aimrt:
path: ./libaimrt_record_playback_plugin.so
options:
type_support_pkgs:
- path: ./libexample_event_type_support_pkg.so
- path: ./libexample_event_ts_pkg.so
playback_actions:
- name: my_signal_playback
options:

2
src/examples/plugins/record_playback_plugin/install/linux/bin/cfg/examples_plugins_record_playback_plugin_record_imd_cfg.yaml
View File

@ -8,7 +8,7 @@ aimrt:
path: ./libaimrt_record_playback_plugin.so
options:
type_support_pkgs:
- path: ./libexample_event_type_support_pkg.so
- path: ./libexample_event_ts_pkg.so
record_actions:
- name: my_imd_record
options:

2
src/examples/plugins/record_playback_plugin/install/linux/bin/cfg/examples_plugins_record_playback_plugin_record_signal_cfg.yaml
View File

@ -15,7 +15,7 @@ aimrt:
path: ./libaimrt_record_playback_plugin.so
options:
type_support_pkgs:
- path: ./libexample_event_type_support_pkg.so
- path: ./libexample_event_ts_pkg.so
record_actions:
- name: my_signal_record
options:

2
src/examples/plugins/record_playback_plugin/install/win/bin/cfg/examples_plugins_record_playback_plugin_playback_imd_cfg.yaml
View File

@ -8,7 +8,7 @@ aimrt:
path: ./aimrt_record_playback_plugin.dll
options:
type_support_pkgs:
- path: ./example_event_type_support_pkg.dll
- path: ./example_event_ts_pkg.dll
playback_actions:
- name: my_imd_playback
options:

2
src/examples/plugins/record_playback_plugin/install/win/bin/cfg/examples_plugins_record_playback_plugin_playback_signal_cfg.yaml
View File

@ -15,7 +15,7 @@ aimrt:
path: ./aimrt_record_playback_plugin.dll
options:
type_support_pkgs:
- path: ./example_event_type_support_pkg.dll
- path: ./example_event_ts_pkg.dll
playback_actions:
- name: my_signal_playback
options:

2
src/examples/plugins/record_playback_plugin/install/win/bin/cfg/examples_plugins_record_playback_plugin_record_imd_cfg.yaml
View File

@ -8,7 +8,7 @@ aimrt:
path: ./aimrt_record_playback_plugin.dll
options:
type_support_pkgs:
- path: ./example_event_type_support_pkg.dll
- path: ./example_event_ts_pkg.dll
record_actions:
- name: my_imd_record
options:

2
src/examples/plugins/record_playback_plugin/install/win/bin/cfg/examples_plugins_record_playback_plugin_record_signal_cfg.yaml
View File

@ -15,7 +15,7 @@ aimrt:
path: ./aimrt_record_playback_plugin.dll
options:
type_support_pkgs:
- path: ./example_event_type_support_pkg.dll
- path: ./example_event_ts_pkg.dll
record_actions:
- name: my_signal_record
options:

1
src/interface/aimrt_module_c_interface/module_base.h
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@ -4,7 +4,6 @@
#pragma once
#include "aimrt_module_c_interface/core_base.h"
#include "aimrt_module_c_interface/util/string.h"
#ifdef __cplusplus
extern "C" {

2
src/interface/aimrt_module_cpp_interface/channel/channel_context.h
View File

@ -3,7 +3,6 @@
#pragma once
#include <chrono>
#include <string_view>
#include <unordered_map>
@ -11,7 +10,6 @@
#include "aimrt_module_cpp_interface/util/string.h"
#include "util/exception.h"
#include "util/string_util.h"
#include "util/time_util.h"
namespace aimrt::channel {

1
src/interface/aimrt_module_cpp_interface/executor/executor.h
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@ -4,7 +4,6 @@
#pragma once
#include <chrono>
#include <stdexcept>
#include <string_view>
#include "aimrt_module_c_interface/executor/executor_base.h"

2
src/interface/aimrt_module_cpp_interface/executor/executor_manager.h
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@ -3,8 +3,6 @@
#pragma once
#include <memory>
#include "aimrt_module_c_interface/executor/executor_manager_base.h"
#include "aimrt_module_cpp_interface/executor/executor.h"
#include "aimrt_module_cpp_interface/util/string.h"

2
src/interface/aimrt_module_cpp_interface/parameter/parameter_handle.h
View File

@ -3,8 +3,6 @@
#pragma once
#include <memory>
#include "aimrt_module_c_interface/parameter/parameter_handle_base.h"
#include "aimrt_module_cpp_interface/util/function.h"
#include "aimrt_module_cpp_interface/util/string.h"

4
src/interface/aimrt_module_cpp_interface/rpc/rpc_context.h
View File

@ -4,18 +4,14 @@
#pragma once
#include <chrono>
#include <cinttypes>
#include <memory>
#include <string_view>
#include <unordered_map>
#include <unordered_set>
#include "aimrt_module_c_interface/rpc/rpc_context_base.h"
#include "aimrt_module_cpp_interface/util/string.h"
#include "util/exception.h"
#include "util/stl_tool.h"
#include "util/string_util.h"
#include "util/time_util.h"
namespace aimrt::rpc {

17
src/interface/aimrt_module_cpp_interface/rpc/rpc_handle.h
View File

@ -5,7 +5,6 @@
#include <memory>
#include <string>
#include <unordered_map>
#include "aimrt_module_c_interface/rpc/rpc_handle_base.h"
#include "aimrt_module_cpp_interface/rpc/rpc_co_filter.h"
@ -113,6 +112,7 @@ class RpcHandleRef {
*/
bool RegisterService(ServiceBase* service_ptr) {
AIMRT_ASSERT(base_ptr_, "Reference is null.");
AIMRT_ASSERT(service_ptr, "Service pointer is null.");
bool ret = true;
@ -132,6 +132,21 @@ class RpcHandleRef {
return ret;
}
/**
* @brief Register service with specific name
*
* @param service_name
* @param service_ptr
* @return Register result
*/
bool RegisterService(std::string_view service_name, ServiceBase* service_ptr) {
AIMRT_ASSERT(service_ptr, "Service pointer is null.");
service_ptr->SetServiceName(service_name);
return RegisterService(service_ptr);
}
/**
* @brief Register client func
*

2
src/interface/aimrt_module_cpp_interface/rpc/rpc_status.h
View File

@ -3,7 +3,7 @@
#pragma once
#include <cinttypes>
#include <cstdint>
#include <string>
#include <unordered_map>

2
src/interface/aimrt_module_cpp_interface/util/buffer.h
View File

@ -3,11 +3,11 @@
#pragma once
#include <string>
#include <vector>
#include "aimrt_module_c_interface/util/buffer_base.h"
#include "aimrt_module_cpp_interface/util/simple_buffer_array_allocator.h"
#include "util/exception.h"
namespace aimrt::util {

1
src/interface/aimrt_module_cpp_interface/util/type_support.h
View File

@ -3,6 +3,7 @@
#pragma once
#include <algorithm>
#include <memory>
#include <span>

2
src/plugins/grpc_plugin/grpc_plugin.cc
View File

@ -118,6 +118,8 @@ bool GrpcPlugin::Initialize(runtime::core::AimRTCore* core_ptr) noexcept {
});
plugin_options_node = options_;
core_ptr_->GetPluginManager().UpdatePluginOptionsNode(Name(), plugin_options_node);
return true;
} catch (const std::exception& e) {
AIMRT_ERROR("Initialize failed, {}", e.what());

1
src/plugins/iceoryx_plugin/iceoryx_plugin.cc
View File

@ -50,6 +50,7 @@ bool IceoryxPlugin::Initialize(runtime::core::AimRTCore *core_ptr) noexcept {
[this] { RegisterIceoryxChannelBackend(); });
plugin_options_node = options_;
core_ptr_->GetPluginManager().UpdatePluginOptionsNode(Name(), plugin_options_node);
return true;

11
src/plugins/log_control_plugin/log_control_plugin.cc
View File

@ -15,12 +15,17 @@ struct convert<aimrt::plugins::log_control_plugin::LogControlPlugin::Options> {
static Node encode(const Options& rhs) {
Node node;
node["service_name"] = rhs.service_name;
return node;
}
static bool decode(const Node& node, Options& rhs) {
if (!node.IsMap()) return false;
if (node["service_name"])
rhs.service_name = node["service_name"].as<std::string>();
return true;
}
};
@ -47,6 +52,8 @@ bool LogControlPlugin::Initialize(runtime::core::AimRTCore* core_ptr) noexcept {
[this] { RegisterRpcService(); });
plugin_options_node = options_;
core_ptr_->GetPluginManager().UpdatePluginOptionsNode(Name(), plugin_options_node);
return true;
} catch (const std::exception& e) {
AIMRT_ERROR("Initialize failed, {}", e.what());
@ -70,9 +77,11 @@ void LogControlPlugin::SetPluginLogger() {
}
void LogControlPlugin::RegisterRpcService() {
// 注册rpc服务
service_ptr_ = std::make_unique<LogControlServiceImpl>();
if (!options_.service_name.empty())
service_ptr_->SetServiceName(options_.service_name);
service_ptr_->SetLoggerManager(&(core_ptr_->GetLoggerManager()));
auto rpc_handle_ref = aimrt::rpc::RpcHandleRef(

4
src/plugins/log_control_plugin/log_control_plugin.h
View File

@ -12,7 +12,9 @@ namespace aimrt::plugins::log_control_plugin {
class LogControlPlugin : public AimRTCorePluginBase {
public:
struct Options {};
struct Options {
std::string service_name;
};
public:
LogControlPlugin() = default;

2
src/plugins/log_control_plugin/service.cc
View File

@ -2,7 +2,7 @@
// All rights reserved.
#include "log_control_plugin/service.h"
#include "aimrt_module_protobuf_interface/util/protobuf_tools.h"
#include "core/logger/log_level_tool.h"
#include "log_control_plugin/global.h"
namespace aimrt::plugins::log_control_plugin {

2
src/plugins/mqtt_plugin/mqtt_plugin.cc
View File

@ -120,6 +120,8 @@ bool MqttPlugin::Initialize(runtime::core::AimRTCore *core_ptr) noexcept {
[this] { RegisterMqttChannelBackend(); });
plugin_options_node = options_;
core_ptr_->GetPluginManager().UpdatePluginOptionsNode(Name(), plugin_options_node);
return true;
} catch (const std::exception &e) {
AIMRT_ERROR("Initialize failed, {}", e.what());

2
src/plugins/mqtt_plugin/mqtt_rpc_backend.cc
View File

@ -6,7 +6,6 @@
#include <regex>
#include "aimrt_module_cpp_interface/rpc/rpc_status.h"
#include "aimrt_module_cpp_interface/util/buffer.h"
#include "aimrt_module_cpp_interface/util/type_support.h"
#include "core/rpc/rpc_backend_tools.h"
#include "mqtt_plugin/global.h"
@ -531,6 +530,7 @@ void MqttRpcBackend::Invoke(
size_t req_size = buffer_array_view_ptr->BufferSize();
// context
client_invoke_wrapper_ptr->ctx_ref.SetMetaValue("aimrt-from_mqtt_client", client_id_);
const auto& keys = client_invoke_wrapper_ptr->ctx_ref.GetMetaKeys();
if (keys.size() > 255) [[unlikely]] {
AIMRT_WARN("Too much context meta, require less than 255, but actually {}.", keys.size());

2
src/plugins/mqtt_plugin/mqtt_rpc_backend.h
View File

@ -3,8 +3,6 @@
#pragma once
#include <utility>
#include "core/rpc/rpc_backend_base.h"
#include "core/util/rpc_client_tool.h"
#include "mqtt_plugin/msg_handle_registry.h"

2
src/plugins/net_plugin/net_plugin.cc
View File

@ -222,6 +222,8 @@ bool NetPlugin::Initialize(runtime::core::AimRTCore* core_ptr) noexcept {
});
plugin_options_node = options_;
core_ptr_->GetPluginManager().UpdatePluginOptionsNode(Name(), plugin_options_node);
return true;
} catch (const std::exception& e) {
AIMRT_ERROR("Initialize failed, {}", e.what());

2
src/plugins/opentelemetry_plugin/opentelemetry_plugin.cc
View File

@ -162,6 +162,8 @@ bool OpenTelemetryPlugin::Initialize(runtime::core::AimRTCore* core_ptr) noexcep
[this] { RegisterRpcFilter(); });
plugin_options_node = options_;
core_ptr_->GetPluginManager().UpdatePluginOptionsNode(Name(), plugin_options_node);
return true;
} catch (const std::exception& e) {
AIMRT_ERROR("Initialize failed, {}", e.what());

11
src/plugins/parameter_plugin/parameter_plugin.cc
View File

@ -15,12 +15,17 @@ struct convert<aimrt::plugins::parameter_plugin::ParameterPlugin::Options> {
static Node encode(const Options& rhs) {
Node node;
node["service_name"] = rhs.service_name;
return node;
}
static bool decode(const Node& node, Options& rhs) {
if (!node.IsMap()) return false;
if (node["service_name"])
rhs.service_name = node["service_name"].as<std::string>();
return true;
}
};
@ -47,6 +52,8 @@ bool ParameterPlugin::Initialize(runtime::core::AimRTCore* core_ptr) noexcept {
[this] { RegisterRpcService(); });
plugin_options_node = options_;
core_ptr_->GetPluginManager().UpdatePluginOptionsNode(Name(), plugin_options_node);
return true;
} catch (const std::exception& e) {
AIMRT_ERROR("Initialize failed, {}", e.what());
@ -70,9 +77,11 @@ void ParameterPlugin::SetPluginLogger() {
}
void ParameterPlugin::RegisterRpcService() {
// 注册rpc服务
service_ptr_ = std::make_unique<ParameterServiceImpl>();
if (!options_.service_name.empty())
service_ptr_->SetServiceName(options_.service_name);
service_ptr_->SetParameterManager(&(core_ptr_->GetParameterManager()));
auto rpc_handle_ref = aimrt::rpc::RpcHandleRef(

4
src/plugins/parameter_plugin/parameter_plugin.h
View File

@ -12,7 +12,9 @@ namespace aimrt::plugins::parameter_plugin {
class ParameterPlugin : public AimRTCorePluginBase {
public:
struct Options {};
struct Options {
std::string service_name;
};
public:
ParameterPlugin() = default;

11
src/plugins/record_playback_plugin/record_playback_plugin.cc
View File

@ -7,7 +7,6 @@
#include "core/aimrt_core.h"
#include "core/channel/channel_backend_tools.h"
#include "record_playback_plugin/global.h"
#include "util/string_util.h"
#include "util/time_util.h"
namespace YAML {
@ -19,6 +18,8 @@ struct convert<aimrt::plugins::record_playback_plugin::RecordPlaybackPlugin::Opt
static Node encode(const Options& rhs) {
Node node;
node["service_name"] = rhs.service_name;
node["type_support_pkgs"] = YAML::Node();
for (const auto& type_support_pkg : rhs.type_support_pkgs) {
Node type_support_pkg_node;
@ -48,6 +49,9 @@ struct convert<aimrt::plugins::record_playback_plugin::RecordPlaybackPlugin::Opt
static bool decode(const Node& node, Options& rhs) {
if (!node.IsMap()) return false;
if (node["service_name"])
rhs.service_name = node["service_name"].as<std::string>();
if (node["type_support_pkgs"] && node["type_support_pkgs"].IsSequence()) {
for (const auto& type_support_pkg_node : node["type_support_pkgs"]) {
auto type_support_pkg = Options::TypeSupportPkg{
@ -216,6 +220,8 @@ bool RecordPlaybackPlugin::Initialize(runtime::core::AimRTCore* core_ptr) noexce
});
plugin_options_node = options_;
core_ptr_->GetPluginManager().UpdatePluginOptionsNode(Name(), plugin_options_node);
return true;
} catch (const std::exception& e) {
AIMRT_ERROR("Initialize failed, {}", e.what());
@ -273,6 +279,9 @@ void RecordPlaybackPlugin::InitTypeSupport(Options::TypeSupportPkg& options) {
void RecordPlaybackPlugin::RegisterRpcService() {
service_ptr_ = std::make_unique<RecordPlaybackServiceImpl>();
if (!options_.service_name.empty())
service_ptr_->SetServiceName(options_.service_name);
service_ptr_->SetRecordActionMap(&record_action_map_);
service_ptr_->SetPlaybackActionMap(&playback_action_map_);

2
src/plugins/record_playback_plugin/record_playback_plugin.h
View File

@ -15,6 +15,8 @@ namespace aimrt::plugins::record_playback_plugin {
class RecordPlaybackPlugin : public AimRTCorePluginBase {
public:
struct Options {
std::string service_name;
struct TypeSupportPkg {
std::string path;
};

2
src/plugins/ros2_plugin/ros2_plugin.cc
View File

@ -93,6 +93,8 @@ bool Ros2Plugin::Initialize(runtime::core::AimRTCore* core_ptr) noexcept {
[this] { RegisterRos2ChannelBackend(); });
plugin_options_node = options_;
core_ptr_->GetPluginManager().UpdatePluginOptionsNode(Name(), plugin_options_node);
return true;
} catch (const std::exception& e) {
AIMRT_ERROR("Initialize failed, {}", e.what());

11
src/plugins/time_manipulator_plugin/time_manipulator_plugin.cc
View File

@ -15,12 +15,17 @@ struct convert<aimrt::plugins::time_manipulator_plugin::TimeManipulatorPlugin::O
static Node encode(const Options& rhs) {
Node node;
node["service_name"] = rhs.service_name;
return node;
}
static bool decode(const Node& node, Options& rhs) {
if (!node.IsMap()) return false;
if (node["service_name"])
rhs.service_name = node["service_name"].as<std::string>();
return true;
}
};
@ -50,6 +55,8 @@ bool TimeManipulatorPlugin::Initialize(runtime::core::AimRTCore* core_ptr) noexc
[this] { RegisterRpcService(); });
plugin_options_node = options_;
core_ptr_->GetPluginManager().UpdatePluginOptionsNode(Name(), plugin_options_node);
return true;
} catch (const std::exception& e) {
AIMRT_ERROR("Initialize failed, {}", e.what());
@ -86,9 +93,11 @@ void TimeManipulatorPlugin::RegisterTimeManipulatorExecutor() {
}
void TimeManipulatorPlugin::RegisterRpcService() {
// 注册rpc服务
service_ptr_ = std::make_unique<TimeManipulatorServiceImpl>();
if (!options_.service_name.empty())
service_ptr_->SetServiceName(options_.service_name);
const auto& executor_vec = core_ptr_->GetExecutorManager().GetAllExecutors();
for (const auto& itr : executor_vec) {

4
src/plugins/time_manipulator_plugin/time_manipulator_plugin.h
View File

@ -12,7 +12,9 @@ namespace aimrt::plugins::time_manipulator_plugin {
class TimeManipulatorPlugin : public AimRTCorePluginBase {
public:
struct Options {};
struct Options {
std::string service_name;
};
public:
TimeManipulatorPlugin() = default;

1
src/plugins/zenoh_plugin/zenoh_plugin.cc
View File

@ -58,6 +58,7 @@ bool ZenohPlugin::Initialize(runtime::core::AimRTCore *core_ptr) noexcept {
[this] { RegisterZenohRpcBackend(); });
plugin_options_node = options_;
core_ptr_->GetPluginManager().UpdatePluginOptionsNode(Name(), plugin_options_node);
return true;

1
src/runtime/core/aimrt_core.cc
View File

@ -3,7 +3,6 @@
#include "core/aimrt_core.h"
#include <fstream>
#include <iostream>
#include "core/util/version.h"

1
src/runtime/core/channel/channel_backend_manager.cc
View File

@ -8,7 +8,6 @@
#include "aimrt_module_cpp_interface/channel/channel_handle.h"
#include "core/channel/channel_backend_tools.h"
#include "util/stl_tool.h"
namespace aimrt::runtime::core::channel {

2
src/runtime/core/channel/channel_backend_manager.h
View File

@ -7,7 +7,7 @@
#include <memory>
#include <string>
#include "aimrt_module_cpp_interface/util/function.h"
#include "aimrt_module_c_interface/util/function_base.h"
#include "core/channel/channel_backend_base.h"
#include "core/channel/channel_framework_async_filter.h"
#include "core/channel/channel_registry.h"

1
src/runtime/core/channel/channel_handle_proxy.h
View File

@ -10,7 +10,6 @@
#include "aimrt_module_c_interface/channel/channel_handle_base.h"
#include "aimrt_module_cpp_interface/util/string.h"
#include "aimrt_module_cpp_interface/util/type_support.h"
#include "core/channel/channel_backend_manager.h"
#include "util/log_util.h"
#include "util/string_util.h"

1
src/runtime/core/channel/channel_msg_wrapper.h
View File

@ -5,7 +5,6 @@
#include <string>
#include <unordered_map>
#include <unordered_set>
#include "aimrt_module_cpp_interface/channel/channel_context.h"
#include "aimrt_module_cpp_interface/util/type_support.h"

1
src/runtime/core/executor/asio_thread_executor.cc
View File

@ -2,7 +2,6 @@
// All rights reserved.
#include "core/executor/asio_thread_executor.h"
#include "aimrt_module_cpp_interface/util/string.h"
#include "core/util/thread_tools.h"
namespace YAML {

5
src/runtime/core/executor/executor_base.h
View File

@ -4,10 +4,9 @@
#pragma once
#include <chrono>
#include <string>
#include "aimrt_module_cpp_interface/executor/executor_manager.h"
#include "aimrt_module_cpp_interface/util/function.h"
#include "aimrt_module_cpp_interface/util/string.h"
#include "aimrt_module_cpp_interface/executor/executor.h"
#include "yaml-cpp/yaml.h"

1
src/runtime/core/executor/executor_proxy.h
View File

@ -5,6 +5,7 @@
#include <unordered_map>
#include "aimrt_module_c_interface/executor/executor_manager_base.h"
#include "core/executor/executor_base.h"
#include "util/log_util.h"
#include "util/string_util.h"

1
src/runtime/core/executor/tbb_thread_executor.cc
View File

@ -2,7 +2,6 @@
// All rights reserved.
#include "core/executor/tbb_thread_executor.h"
#include "aimrt_module_cpp_interface/util/string.h"
#include "core/util/thread_tools.h"
namespace YAML {

1
src/runtime/core/logger/console_logger_backend.h
View File

@ -4,7 +4,6 @@
#pragma once
#include <shared_mutex>
#include <thread>
#include <unordered_map>
#include "aimrt_module_cpp_interface/executor/executor.h"

3
src/runtime/core/logger/log_level_tool.h
View File

@ -4,8 +4,9 @@
#pragma once
#include <cstring>
#include <string_view>
#include "core/logger/logger_backend_base.h"
#include "aimrt_module_c_interface/logger/logger_base.h"
namespace aimrt::runtime::core::logger {

1
src/runtime/core/logger/logger_manager.cc
View File

@ -3,6 +3,7 @@
#include "core/logger/logger_manager.h"
#include "core/logger/console_logger_backend.h"
#include "core/logger/log_level_tool.h"
#include "core/logger/rotate_file_logger_backend.h"
namespace YAML {

1
src/runtime/core/logger/logger_manager.h
View File

@ -9,7 +9,6 @@
#include <vector>
#include "aimrt_module_cpp_interface/executor/executor.h"
#include "core/logger/log_level_tool.h"
#include "core/logger/logger_proxy.h"
#include "core/util/module_detail_info.h"
#include "util/log_util.h"

1
src/runtime/core/logger/rotate_file_logger_backend.h
View File

@ -5,7 +5,6 @@
#include <fstream>
#include <shared_mutex>
#include <thread>
#include <unordered_map>
#include "aimrt_module_cpp_interface/executor/executor.h"

2
src/runtime/core/module/core_proxy.h
View File

@ -3,8 +3,6 @@
#pragma once
#include <string>
#include "aimrt_module_c_interface/core_base.h"
namespace aimrt::runtime::core::module {

3
src/runtime/core/module/module_manager.h
View File

@ -4,16 +4,13 @@
#pragma once
#include <atomic>
#include <filesystem>
#include <functional>
#include <memory>
#include <set>
#include <string>
#include <unordered_map>
#include <vector>
#include "aimrt_module_c_interface/logger/logger_base.h"
#include "aimrt_module_cpp_interface/util/function.h"
#include "aimrt_module_cpp_interface/util/string.h"
#include "core/module/core_proxy.h"
#include "core/module/module_loader.h"

2
src/runtime/core/parameter/parameter_handle.h
View File

@ -3,13 +3,11 @@
#pragma once
#include <atomic>
#include <mutex>
#include <string>
#include <unordered_map>
#include <vector>
#include "aimrt_module_c_interface/parameter/parameter_handle_base.h"
#include "util/log_util.h"
#include "util/string_util.h"

1
src/runtime/core/parameter/parameter_manager.h
View File

@ -5,7 +5,6 @@
#include <string>
#include "aimrt_module_c_interface/parameter/parameter_handle_base.h"
#include "core/parameter/parameter_handle.h"
#include "core/parameter/parameter_handle_proxy.h"
#include "core/util/module_detail_info.h"

14
src/runtime/core/plugin/plugin_manager.cc
View File

@ -191,6 +191,20 @@ YAML::Node PluginManager::GetPluginOptionsNode(std::string_view plugin_name) con
return YAML::Node();
}
void PluginManager::UpdatePluginOptionsNode(std::string_view plugin_name, YAML::Node options) {
AIMRT_CHECK_ERROR_THROW(
state_.load() == State::kInit,
"Method can only be called when state is 'Init'.");
auto finditr = std::find_if(
options_.plugins_options.begin(),
options_.plugins_options.end(),
[plugin_name](const auto& op) { return plugin_name == op.name; });
if (finditr != options_.plugins_options.end())
finditr->options = options;
}
std::list<std::pair<std::string, std::string>> PluginManager::GenInitializationReport() const {
AIMRT_CHECK_ERROR_THROW(
state_.load() == State::kInit,

1
src/runtime/core/plugin/plugin_manager.h
View File

@ -51,6 +51,7 @@ class PluginManager {
void RegisterCorePtr(AimRTCore* core_ptr);
YAML::Node GetPluginOptionsNode(std::string_view plugin_name) const;
void UpdatePluginOptionsNode(std::string_view plugin_name, YAML::Node options);
State GetState() const { return state_.load(); }

1
src/runtime/core/rpc/rpc_backend_manager.cc
View File

@ -8,7 +8,6 @@
#include "aimrt_module_cpp_interface/rpc/rpc_handle.h"
#include "aimrt_module_cpp_interface/rpc/rpc_status.h"
#include "util/stl_tool.h"
namespace aimrt::runtime::core::rpc {

2
src/runtime/core/rpc/rpc_handle_proxy.h
View File

@ -3,6 +3,8 @@
#pragma once
#include <unordered_set>
#include "aimrt_module_c_interface/rpc/rpc_handle_base.h"
#include "core/rpc/rpc_backend_manager.h"

1
src/runtime/core/rpc/rpc_invoke_wrapper.h
View File

@ -3,6 +3,7 @@
#pragma once
#include <functional>
#include <memory>
#include <string>

1
src/runtime/core/rpc/rpc_manager.h
View File

@ -10,7 +10,6 @@
#include <unordered_map>
#include <vector>
#include "aimrt_module_c_interface/rpc/rpc_handle_base.h"
#include "aimrt_module_cpp_interface/executor/executor.h"
#include "core/rpc/rpc_backend_manager.h"
#include "core/rpc/rpc_handle_proxy.h"

2
src/runtime/core/rpc/rpc_registry.h
View File

@ -4,8 +4,6 @@
#pragma once
#include <memory>
#include <set>
#include <string>
#include <unordered_map>
#include "core/rpc/rpc_invoke_wrapper.h"

1
src/runtime/core/util/rpc_client_tool.h
View File

@ -3,7 +3,6 @@
#pragma once
#include <atomic>
#include <chrono>
#include <optional>

2
src/runtime/core/util/thread_tools.h
View File

@ -3,8 +3,8 @@
#pragma once
#include <cstdint>
#include <string_view>
#include <thread>
#include <vector>
namespace aimrt::runtime::core::util {

5
src/runtime/python_runtime/export_rpc.h
View File

@ -213,7 +213,10 @@ inline void ExportRpcHandleRef(pybind11::object m) {
pybind11::class_<RpcHandleRef>(std::move(m), "RpcHandleRef")
.def(pybind11::init<>())
.def("__bool__", &RpcHandleRef::operator bool)
.def("RegisterService", &RpcHandleRef::RegisterService)
.def("RegisterService",
pybind11::overload_cast<std::string_view, aimrt::rpc::ServiceBase*>(&RpcHandleRef::RegisterService))
.def("RegisterService",
pybind11::overload_cast<aimrt::rpc::ServiceBase*>(&RpcHandleRef::RegisterService))
.def("RegisterClientFunc", &PyRpcHandleRefRegisterClientFunc)
.def("Invoke", &PyRpcHandleRefInvoke);
}