* feat: add timer module integration
Integrate the new timer module into the executor package, enhancing functionality and providing more precise timing capabilities within the system.
* feat: add timer class for periodic task scheduling
Implement a Timer class that enables users to schedule recurring tasks with configurable periods. This enhances the executor functionality by allowing more precise timing control and task management within the AimRT framework.
* refactor: replace WallTimer with aimrt::executor::Timer and enhance logging
Streamline the timer module by removing the custom WallTimer implementation in favor of the built-in aimrt::executor::Timer. Improve logging to track execution intervals, providing clearer insights into task execution frequency.
* feat: enhance timer functionality and behavior
Introduce a shortened sleep duration for task execution and add cancellation capability for timers, improving responsiveness and efficiency in managing timer events.
* feat: enhance timer functionality with flexible period handling
Refine the timer by allowing a customizable reset period, improving task scheduling accuracy, and ensuring that callbacks execute only when appropriate. This update addresses potential timing issues when the timer is reset, enhancing overall reliability in task execution.
* feat: improve timer module functionality and simplify timer creation
Enhance the timer module by updating the logging to microseconds, refactoring timer creation for improved clarity, and adjusting timing intervals for better performance and maintainability.
* feat: add utility for comparing function argument types
Introduce a new utility to compare argument types of functions, enhancing type safety and flexibility in the Timer implementation. Update Timer module to integrate this utility for improved argument type checks. Additionally, adjust timer intervals for more appropriate timing behavior.
* test: add comprehensive tests for SameArguments trait functionality
Introduce a series of tests to validate the behavior of the SameArguments trait across various function types, member functions, function objects, lambda functions, and complex argument types. This ensures compatibility and correctness in argument matching, enhancing type safety and reliability in code usage.
* style: format function definitions for clarity
Improve the readability of the TimerBase class by formatting function definitions to align with standard coding style.
Expand timer functionality to support const reference callbacks, enhancing flexibility in task management.
* style: ensure newline at end of file and tidy up CMakeLists.txt
Update formatting for consistency and readability by adding a newline at the end of the file and improving the organization of the CMakeLists.txt.
* chore: update include paths for consistency
Refactor the include statement for the same_arg_trait to follow the new directory structure, promoting better organization and maintainability.
* fix: clarify comment on task execution timing
Ensure that the executor guarantees all tasks are executed after their planned time to handle timer resets more effectively.
* refactor: simplify cancellation check in timer execution
Improve code clarity by replacing direct access of a member variable with a method call for cancellation checks. This enhances maintainability and encapsulates the cancellation logic.
* refactor: enhance timer interface to support configurable period
Revise the TimerBase and Timer classes to allow starting and resetting with a specific duration. This improves flexibility, prevents duplicate callbacks on resets, and ensures more accurate callback scheduling.
* feat: improve timer functionality and logging
Enhance the timer with more precise intervals and additional logging for better tracking of execution and reset events. Adjust execution periods for improved timing accuracy and introduce dynamic start behavior for better flow control.
* refactor: adjust timer periods for improved performance
Update timer initialization and execution intervals to enhance timing accuracy and operational efficiency.
* refactor: rename callback method for clarity
Update the timer interface to use "ExecuteTask" instead of "ExecuteCallback" for improved readability and accuracy in describing the method's purpose. Ensure that task cancellation is properly handled when auto-start is disabled.
* docs: enhance timer documentation and add usage examples
Clarify the timer interface and its functionality, including creation, scheduling, and task execution. Provide practical usage examples to improve understanding and facilitate integration into projects.
* chore: update copyright information to reflect current year and new authors
Ensure compliance with licensing requirements by revising the copyright and license details in the CMake configuration.
* fix: address potential duplicate callback executions on timer reset
Remove commented FIXME notes regarding edge case of duplicate callbacks when the timer is reset to the same time point.
* fix: adjust timer intervals for improved timing accuracy
Reduce timer intervals from seconds to milliseconds to enhance responsiveness of the timer functionality. Implement a sleep in the shutdown process to ensure all timer executor tasks complete properly before shutdown.
* refactor: simplify timer restart logic
Consolidate timer actions by removing redundant cancellation and restart statements. Adjust logging to reflect the accurate restart timing, enhancing clarity and reducing unnecessary latency.
* fix: add cancellation check in timer execution loop
Ensure that the timer's execution loop properly checks for cancellation, optimizing performance and preventing unnecessary operations when the timer is no longer needed.
* refactor: update time point calculations for accuracy
Improve the handling of time point arithmetic in the Timer class to ensure precision during execution and scheduling. This revision clarifies the time calculations, preventing potential errors in scheduling tasks.
* feat: add synchronization support to Timer class
Implement SyncWait method to allow for synchronous waiting on timer tasks, enhancing task execution control and reliability.
* refactor: streamline timer execution logging
Improve timer execution logging by incrementing the execution count directly within the log statement. Ensure the timer synchronously waits during shutdown to enhance reliability.
* feat: add SyncWait method to TimerBase for safer resource cleanup
Improve timer behavior by introducing SyncWait to ensure resources are correctly released after cancellation before the next execution point. Update timer intervals for enhanced responsiveness and logging clarity.
* feat: add timer based on executor for scheduled tasks
Introduce a new feature to facilitate scheduled task execution with an executor-based timer, enhancing the flexibility and usability of the task management capabilities.
* refactor: streamline timer initialization and assertion handling
Remove inline assertions from the TimerBase constructor and relocate assertions to the CreateTimer function, enhancing clarity and maintaining execution flow. This simplifies timer initialization while ensuring that critical checks occur before timer creation.
* refactor: simplify timer task management and logging
Improve timer initialization and task execution by streamlining start and reset processes. Enhance logging clarity by aligning messages with timepoints and ensuring the timer cancels correctly after reaching execution limits.
* docs: simplify TimerBase interface documentation
Clarify method descriptions and refine behavior explanation to enhance understanding of TimerBase functionality, particularly around the Reset and Start methods.
* refactor: optimize task forwarding in Timer constructor
Improve task handling by using std::forward to perfect-forward the task parameter, ensuring efficient movement semantics and reducing potential overhead.
---------
Co-authored-by: zhangyi <zhangyi@agibot.com>
* feat: enhance gRPC content-type handling and serialization support
Improve content-type validation in gRPC request headers to support additional types, allowing for JSON serialization. Update the serialization logic to dynamically set the type based on incoming headers, ensuring better compatibility and error handling.
* feat: support ros2 service function names
Enhance service function registration to accept names starting with 'ros2:' in addition to 'pb:'. Update URL path handling and content type mappings accordingly to ensure compatibility with ROS 2 services, improving integration capabilities.
* feat: add gRPC plugin configuration and startup scripts
Introduce configuration files for the gRPC client and server plugins, allowing for easier setup and management of RPC communication. Add shell scripts to launch the client and server with the specified configurations, streamlining the development process.
* refactor: improve service function name validation and error handling
Enhance the clarity of service function name registration by separating the function name variable for improved readability. Update error messages for better guidance on valid prefixes and standardize maps for content types and serialization types. This increases maintainability and reduces the risk of errors during registration.
* refactor: streamline client option lookup and improve code clarity
Simplify the client option lookup by replacing `std::find_if` with `std::ranges::find_if`. Also, enhance readability by cleaning up comment formatting and unnecessary whitespace.
* chore: update copyright information in configuration files
Revise copyright year and licensing details to reflect the current ownership and license for the AimRT project.
* refactor: improve validation logic in options
Enhance option verification by using standard algorithms for consistency and readability. This ensures minimum thresholds for connection numbers and timer durations are respected, improving robustness in client and server configurations.
* docs: update release notes and plugin documentation
Add support for grpc plugin serialization with ros2 messages and json format, enhancing flexibility in data handling. Remove outdated protobuf-only restriction to improve compatibility and user experience.
* docs: add ros2 rpc example details and usage instructions
Expand the README to include a new section on using the grpc plugin with a ros2-based RPC interface. Provide explicit instructions on configuration, core code references, and running the server and client. Enhance the documentation to clarify the differences from the protobuf RPC example.
---------
Co-authored-by: zhangyi <zhangyi@agibot.com>
* 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>
* CI: change build worlflow image tag from v20240927 to latest
* refactor(tools): Restructure bagtrans tool and integrate into aimrt_cli
- Integrate bagtrans functionality into aimrt_cli
- Update CMakeLists.txt and documentation to reflect these changes
* choro: format the code
* choro: change the document
* choro: remove the bagtrans options
---------
Co-authored-by: yuguanlin <yuguanlin@agibot.com>
* CI: change build worlflow image tag from v20240927 to latest
* feat/plugins: Add echo plugin
- Add echo plugin for message pass-through and logging
- Implement loading and management of different types of support packages
- Add support for multi-threaded executors
- Optimize log initialization and management logic
- Add support for YAML configuration files
* build: Update build scripts and enable Echo plugin
- Add build options for Echo plugin in build.bat, build.sh, test.bat, and test.sh scripts
- Optimize JSON serialization error handling and log output in echo_plugin.cc
* chore: Add Echo plugin related documentation
- Update release notes with Echo plugin feature description
- Add Echo plugin usage documentation
- Add Echo plugin example configuration and running instructions
* chore: format the code
- Add thread safety checks for Echo executor
- Optimize code structure to improve readability and maintainability
* choro: restructure JSON parsing logic
- Replace json-c with jsoncpp library
- Rewrite json_to_yaml function to improve code readability and robustness
* choro: adapt CMakeLists for Windows compatibility
* choro : turn off the echo plugin in windows
* feat(echo_plugin): Support YAML format message echo
- Modify GetYamlCpp.cmake to enable yaml-cpp installation
- Add yaml_convert.h and yaml_convert_test.cc in ros2_util
- Update echo_plugin to support YAML format message serialization and deserialization
- Add YAML serialization type support in aimrt_module_ros2_interface
* choro: Fix documentation
* choro : fix format and delete the extra support for echo about pb message type
* choro : format
* choro: add ros2 example for echo plugin and delete useless code
* choro: rename the echo example shell
* choro: fix some mistake
* chore: refactor type support package loader and migrate to core module
- Migrate TypeSupportPkgLoader from echo_plugin and record_playback_plugin to core/util directory
- Optimize log output, replace printf with AIMRT_INFO
* choro: replace the aimrt::common::util::AimRTException() to AIMRT_ASSERT
---------
Co-authored-by: yuguanlin <yuguanlin@agibot.com>
Remove outdated note about file generation failure due to missing package name in proto files to enhance clarity and usability for developers.
Co-authored-by: zhangyi <zhangyi@agibot.com>
* 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.
* 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.
* 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
---------
Co-authored-by: yuguanlin <yuguanlin@agibot.com>
* 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>
* 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>
* 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
* 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>
* 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.
