076f76394e
* 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>
75 lines
2.4 KiB
Markdown
75 lines
2.4 KiB
Markdown
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# echo插件
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## 相关链接
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参考示例：
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- {{ '[echo_plugin]({}/src/examples/plugins/echo_plugin)'.format(code_site_root_path_url) }}
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## 插件概述
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**echo_plugin**用于对 Channel 中的消息进行回显，插件支持独立的 type_support_pkg，并支持指定执行器, 必须设定 log_lvl 为 Trace，Debug，Info 之一才能正常工作。
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插件的配置项如下：
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| 节点 | 类型 | 是否可选| 默认值 | 作用 |
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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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| 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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| topic_meta_list[j].echo_type | string | 可选 | "json" | 回显消息的格式，ros2 支持 "json", "yaml" ， pb 只支持 "json" |
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### 回显消息的简单示例配置
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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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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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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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channel:
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# ...
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```
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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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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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topic_meta_list:
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- topic_name: test_topic
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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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channel:
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# ...
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```
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