38 Commits

Author SHA1 Message Date
ATT_POWER
6b74dbe7af
CI: add document ignore and quick-ci mode (#63)
* CI: change build worlflow image tag from v20240927 to latest

* ci: Optimize GitHub Actions workflow triggers and test execution

- Ignore changes in the .github and document directories to avoid unnecessary workflow triggers
- Add 'quick-ci' label to control test execution and improve CI efficiency

* choro: add quick ci mode

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Co-authored-by: yuguanlin <yuguanlin@agibot.com>
2024-10-30 22:06:39 +08:00
zhangyi1357
4181a74eba
refactor: streamline message type naming (#62)
Enhance the generation of message type names by ensuring proper handling of package and message components, eliminating excess separators for cleaner output.
2024-10-30 22:05:45 +08:00
ChuheZhang
018646d6bf
Refactor coroutine request handling and ensure unique client keys (#61)
* Refactor coroutine request handling and ensure unique client keys

* Refactor client_key to use ClientKey struct with custom hash to ensure uniqueness and support IPv6
2024-10-30 22:04:50 +08:00
zhangyi1357
69b83817cd
feat: add frequency information to benchmark report (#60)
Include frequency details in the benchmark report when using fixed frequency mode to enhance clarity and analysis of performance metrics.
2024-10-29 14:29:51 +08:00
zhangyi1357
5051051b00
chore: update author email for Zhang Yi (#59)
Change the email address of Zhang Yi to reflect current contact information.
2024-10-29 10:52:42 +08:00
zhangyi1357
328a99512b
docs: add aimrt_py rpc context (#58)
* docs: clarify context type enumeration description

Enhance the explanation of the `aimrt_channel_context_type_t` enumeration to clearly indicate its role in defining publisher and subscriber contexts. This improves understanding for users implementing the interface.

* feat: enhance RpcContext with additional features

Add new methods for managing context metadata, timeout settings, and target addresses. Improve logging to provide better visibility into RPC calls and responses, aiding in debugging and performance monitoring.

* feat: enhance RPC context logging with metadata

Add the ability to log metadata in RPC calls, improving traceability and debugging. Update the client to set a metadata value and enhance server logging to print out all metadata associated with requests.

* feat: add RPC context types to Python bindings

Introduce enum values for client and server RPC context types in Python bindings to enhance type support and improve clarity in interactions with RPC features.
2024-10-28 21:10:22 +08:00
zhangyi1357
0b2427dc75
docs: add aimrt_py channel context (#56)
* feat: set default serialization type for context reference

Ensure that the serialization type defaults to "pb" when it is not explicitly set in the context reference. This improves compatibility and prevents potential errors related to serialization handling.

* docs: enhance message publishing and context usage documentation

Clarify the usage of the `Publish` function by adding context and serialization options. Introduce `Context` and `ContextRef` details for improved understanding. Adjust subscriber callback signatures and remove deprecated notes for a cleaner documentation experience.

* feat: enhance event publishing with context and serialization options

Add support for publishing events with various configurations, including without context, with JSON serialization, and with context references. Improve logging for better debugging and clarity in event handling.

* feat: add enumeration for channel context types

Introduce enumeration for `aimrt_channel_context_type_t` to better categorize channel contexts, improving readability and usability in Python bindings.

* docs: clarify context type description

Enhance documentation by simplifying the explanation of the context type and explicitly defining the associated enumeration values for better understanding.
2024-10-28 20:27:00 +08:00
zhangyi1357
66829ca820
fix: standardize timestamp handling with time.time_ns() (#55)
* refactor: standardize timestamp handling with time.time_ns()

Update timestamp handling in both publishing and subscribing modules to use time.time_ns() instead of time.perf_counter_ns(). This change improves consistency in timestamp precision and ensures uniformity across the system's message timing functionalities.

* perf: improve timing measurements with nanosecond precision

Enhance performance tracking by switching from `time.time()` to `time.perf_counter_ns()`, providing more accurate duration calculations.
2024-10-28 15:50:00 +08:00
zhangyi1357
430f4f61b2
fix: aimrt_py channel benchmark for large data packets (#54)
* fix: ensure subscriber receives all messages before ending

Add a short sleep to guarantee the subscriber has enough time to process all published messages before signaling completion. This prevents potential missed messages during the benchmarking process.

* perf: optimize timestamp retrieval for benchmarking

Use high-resolution `perf_counter_ns` instead of `time.time` for better accuracy in message timestamps across publisher, subscriber, and RPC client modules.
2024-10-25 18:56:08 +08:00
zhangyi1357
3594abc28e
refactor: remove shutdown peer logic from publisher and subscriber (#52)
* refactor: remove shutdown peer logic from publisher and subscriber

Streamline benchmarking process by eliminating shutdown peer signal handling, simplifying the code and improving clarity.

* docs: clarify benchmark termination process

Update the README to specify that benchmark results will be output in the subscriber terminal and that the process can be terminated in both terminals using `Ctrl+C`. This improves user guidance for smoother execution.
2024-10-25 11:52:55 +08:00
ATT_POWER
42ba5be784
fix: bagtrans options bugs (#49)
* CI: change build worlflow image tag from v20240927 to latest

* fix:  fix bagtrans tool support

- Add AIMRT_BUILD_BAGTRANS option in CMakeLists.txt
- Update build.bat, build.sh, test.bat and test.sh scripts to include bagtrans build option
- Modify CMakeLists.txt in bagtrans directory to simplify build logic
- Remove autopep8 dependency from bagtrans/requirements.txt

* format : format the code

* fix: Turn off the bagtrans compilation option on Windows

* feat(tools): Update bagtrans tool build method

- Change the build method of bagtrans tool from PyInstaller to using the build module to generate wheel files
- Update CMakeLists.txt and setup.py files to adapt to the new build method
- Update release notes, adding new information about the bagtrans tool

* fix: format

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Co-authored-by: yuguanlin <yuguanlin@agibot.com>
2024-10-24 21:14:13 +08:00
han J
25c8b2e5bb
Ros2 plugin custom naming (#46)
* add remapping function for ros2 plugin

* Optimize the logical structure of remapping.

* Optimize the remapping's  logic

* Simplify details

* - update the ROS2 plugin documentation to correct the description of the remapping rules and optimize examples;

- enhance the Ros2RpcBackend class by adding exception handling logic to the GetRemappedFuncName method;

- add a function initialization report feature;

- write unit test cases for GetRemappedFuncName covering various scenarios.

* Update the table format in the documentation, correcting the regular expression capturing groups for function names

* Decrease Redundancy

* simplify the function : GetRealRosFuncName

* Optimized the way of obtaining the message type, reducing unnecessary string constructions.

---------

Co-authored-by: hanjun <hanjun@agibot.com>
2024-10-24 19:31:41 +08:00
zhangyi1357
cb01a34047
feat: enhance aimrt_py rpc context handling and method overloads (#48)
* feat: add new methods to RpcContext and RpcContextRef

Enhance functionality by introducing CheckUsed, SetUsed, Reset, GetFunctionName, and SetFunctionName methods for better state management and function identification.

* feat: add RPC service details to ServiceBase class

Enhance the ServiceBase class by adding methods to retrieve RPC type and service name, along with the ability to set the service name. This improves accessibility and flexibility for RPC configurations.

* feat: simplify service function type definition

Introduce type aliases for service function return and parameter types to enhance code readability and maintainability. This change reduces redundancy and clarifies the expected function signatures, streamlining future development.

* feat: enhance RPC framework with proxy support

Add support for `ProxyBase` in the RPC framework, enabling more flexible service management and context handling in Python. Update the `RpcContext` definition to use shared pointers for better memory management.

* feat: enhance rpc context handling and method overloads

Improve the handling of RPC context by adding overloads for method arguments, ensuring type safety and clarity in usage. This change simplifies the implementation of service proxies and makes it easier to work with different context types.

* feat: enhance context handling in RPC proxy

Add default context reference to the `NewContextSharedPtr` method, simplifying context management in RPC calls for improved usability.
2024-10-24 15:49:40 +08:00
zhangyi1357
e2e77060af
feat: enhance aimrt_py channel with ctx functionality (#44)
* chore: reorganize imports for consistency

Refactor the import statements across multiple modules to improve readability and maintain consistency. Ensure all relevant libraries are imported in a coherent manner.

* feat: add GetTopic method to PublisherRef and SubscriberRef

Expose the GetTopic method for both PublisherRef and SubscriberRef to improve topic management and enhance usability within the Python interface.

* feat: add context handling in publishing

Introduce new context management methods for publishing messages with context support. Enhance the Python bindings to allow for better integration with context references, improving the flexibility and usability of the publisher functionality.

* feat: enhance subscription with context support

Add a new subscription method that includes context handling for better message processing. This improves the flexibility of message serialization formats and error handling during callback execution.

* refactor: clean up publish and subscribe methods

Improve code readability by removing unnecessary blank lines and ensuring consistent formatting in the publish and subscribe functions.

* style: update ASCII art formatting in example runner

Improve visual consistency of the ASCII banner in the output, enhancing readability.

* chore: improve type annotations for publisher and subscriber functions

Enhance the type hints in the RegisterPublishType, Publish, and Subscribe functions to improve code clarity and maintainability. This facilitates better integration with type-checking tools and helps prevent potential runtime errors.

* feat: support multiple serialization types in publisher

Enhance the publishing functionality to handle both protobuf and JSON serialization types. This improves flexibility and allows for broader compatibility with different data formats. Add error handling for invalid serialization types to ensure robustness.

* fix: correct serialization type prefix

Update the serialization type from "pb" to "json" when publishing JSON messages, ensuring accurate format differentiation for better clarity and preventing potential processing errors.

* refactor: streamline serialization handling in PublishWithCtx

Improve message serialization by consolidating logic and enhancing readability. Ensure error handling for unsupported types remains clear.

* feat: add Context support for aimrt_py channel functionality

Enhance channel functionality in aimrt_py by providing Context support, improving usability and enabling better resource management during operations.

* refactor: streamline serialization type handling

Improve clarity by formatting the serialization type in the publish method. This enhances readability and ensures consistent output in message formatting.

* refactor: rename publish function and improve argument handling

Enhance the Publish function to accept different argument configurations and simplify the serialization process, ensuring clearer logic and improved usability.

* feat: enhance publishing with customizable serialization

Allow publishers to specify serialization type (protobuf or JSON) when publishing messages. Update method signatures to improve clarity and error handling for serialization type validation.

* feat: enhance Publish function documentation

Clarify usage and expectations for the Publish function, including argument types and potential exceptions. This improves maintainability and usability for future developers.

* refactor: simplify protobuf serialization handling

Streamline the protobuf message serialization and deserialization processes by separating concerns into dedicated functions. Improve callback handling for subscriber methods to enhance code readability and maintainability.

* refactor: streamline serialization and deserialization methods

Simplify the process of message serialization and deserialization by consolidating functions and improving code clarity. This enhances maintainability and reduces redundancy in handling protobuf messages.

* refactor: remove unused subscription method

Eliminate the `PySubscribeWithSerializationType` function to streamline the code and improve maintainability, as it is not being used in the current implementation.

* refactor: streamline callback parameter handling

Simplify the validation and handling of callback parameters in the subscription process. Ensure the callback adheres to a clear signature expectation, enhancing code maintainability and reducing potential errors.

* chore: streamline imports for clarity

Optimize import statements by specifying only required components, improving readability and maintainability.

* feat: enhance protobuf registration and subscription documentation

Improve docstrings for registering and subscribing to protobuf message types, clarifying parameter details and callback expectations to aid developer understanding and usage.
2024-10-22 20:09:15 +08:00
zhangyi1357
7811ecc7cc
build: enable position-independent code (#43)
Set CMAKE_POSITION_INDEPENDENT_CODE to ON to ensure compatibility with shared libraries and enhance portability across different architectures. Removed explicit compiler flags for PIC that were previously set.
2024-10-21 21:58:36 +08:00
han J
f22a869be3
Run all aimrt example (#42)
* run all examples of aimrt and generate the report

* Handle the runtime environment and dependencies.

* Format Check

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Co-authored-by: hanjun <hanjun@agibot.com>
2024-10-21 15:20:21 +08:00
ATT_POWER
9d148527a4
feat: add 'trans' command to aimrt_cli for converting aimrtbag to rosbag (#39)
* feat: support translate aimrtbag to rosbag

* feat: 添加数据包转换工具

* CI: change build worlflow image tag from v20240927 to latest

* feat: now support transfer aimrtbag to rosbag

* feat: Adjust the build and installation process of aimrt_cli , copy ROS2 plugin proto files when building aimrt_cli

* chore: format the code style

* chore: format code

* feat: Differentiate between aimrt-cli and transbag, make transbag an independent tool; add documentation for transbag

* chore: Update CI trigger from label "ci ready" to "ci"

* chore: format code

* choro: feat:  compile bagtrans module only when bagrecord and ros2 plugin are enabled; improve documentation

* choro: Modify activation method for bagtrans

---------

Co-authored-by: yuguanlin <yuguanlin@agibot.com>
2024-10-18 20:19:00 +08:00
zhangyi1357
e2c70c2c07
docs: add package specification and generation note for proto files (#40)
Clarify the requirement for specifying a package name in proto files to ensure successful RPC code generation in Python.
2024-10-18 19:04:09 +08:00
han J
d1ea3b4e13
run all examples of aimrt and generate the report (#34)
* run all examples of aimrt and generate the report

* add example items  of cpp and python

* add release_notes

* Modify copyright statement

---------

Co-authored-by: hanjun <hanjun@agibot.com>
2024-10-18 16:41:25 +08:00
zhangyi1357
1186d81a07
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
zhangyi1357
5ca412c339
fix: add GIL for pybind11::bytes object accessing (#35)
* fix: add GIL for pybind11::bytes object accessing

Protect the access to the pybind11::bytes object with a GIL lock to avoid potential memory errors, and unify the handling of empty and non-empty strings. Eliminate unused functions for empty byte objects in the export channel and export RPC modules to enhance code clarity.

* docs: resolve occasional server crash during multi-threaded RPC calls

Address a rare issue causing server crashes in aimrt_py under multi-threaded RPC operations, enhancing stability and reliability.
2024-10-17 18:52:28 +08:00
wtudio
fabac84bb0
feat: Allow custom RPC names for some plugins (#33)
* Allow custom RPC names for some plugins
2024-10-17 16:39:35 +08:00
han J
5b85a23678
Zenoh update to 1.0.0.11 (#31)
* Upgrade zenoh to version 1.0.0.11

* Update the download link for the zenoh-c library to version 1.0.0.11 and adjust some related URL configurations.

---------

Co-authored-by: hanjun <hanjun@agibot.com>
2024-10-16 19:39:38 +08:00
zhangyi1357
036bd5bef9
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
ATT_POWER
85ca6fb570
CI: change build worlflow image tag from v20240927 to latest (#29)
Co-authored-by: yuguanlin <yuguanlin@agibot.com>
2024-10-16 13:57:04 +08:00
zhangyi1357
81600602e3
build: simplify Boost fetching logic (#26)
Streamline the process of finding and downloading Boost by removing unnecessary checks and consolidating the logic, making it easier to manage and maintain dependencies.
2024-10-14 21:23:01 +08:00
zhangyi1357
83611e9591
build: update download URLs for dependencies (#27)
Enhance dependency management by aligning jsoncpp and asio download links with AimRT repositories.
2024-10-14 21:22:26 +08:00
wtudio
69ccda4268
fix iceoryx plugin example (#25) 2024-10-14 18:48:07 +08:00
zhangyi1357
e83c3ce8fe
build: reorganize CMake settings for better clarity (#23)
Streamline CMake configuration by consolidating compiler options and ensuring consistent export of compile commands, enhancing the build process especially for MSVC and Windows environments.
2024-10-14 17:49:01 +08:00
zhangyi1357
10153950c8
build: add Windows specific compile option for ssize_t (#24)
* build: add Windows specific compile option for ssize_t

Ensure compatibility on Windows by defining ssize_t as int for the gRPC plugin. This adjustment prevents potential type-related issues during compilation.

* chore: include string header for message handling

Ensure that the string functionality is available for improved message processing.
2024-10-14 17:48:07 +08:00
AimRT
515fc49c2d
Update feature_request.md 2024-10-14 12:42:55 +08:00
zhangyi1357
793418f0a2 update 2024-10-14 09:45:07 +08:00
AimRT
7e4a55c39d
CI: Add GitHub Actions to test on multiple platforms (amd64, arm64, msvc) (#22)
feat: 添加 AIMRT github action

Key features of this workflow:
Runs automated tests on the mentioned platforms using matrix strategy in GitHub Actions.
Ensures that the code compiles and runs correctly on each platform.
The workflow is automatically triggered whenever the "ci ready" label is applied to a pull request or a new release is published, ensuring thorough testing and validation at critical stages of the development process.

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Co-authored-by: yuguanlin <yuguanlin@agibot.com>
2024-10-12 20:51:43 +08:00
zhangyi1357
7d5fe68319 update 2024-09-30 17:22:32 +08:00
AimRT
28664a53bd
Update issue templates 2024-09-26 17:21:05 +08:00
AimRT
ac0e1f8b53
Merge pull request #1 from zhangyi1357/misc
docs: add code of conduct and contribution guidelines
2024-09-25 09:58:28 +08:00
zhangyi
d0e3c67c9b feat: add code of conduct and contribution guidelines
Establish a community code of conduct to foster a respectful and inclusive environment, and provide comprehensive contribution guidelines to streamline project participation for all contributors.
2024-09-25 09:54:34 +08:00
wtudio
d2d7b0495d update v0.8.0 v0.8.0 2024-09-23 16:01:31 +08:00