ac7715e424
* 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 Remove outdated protobuf-only restriction to improve compatibility and user experience.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>
1.4 KiB
1.4 KiB
v0.9.0
重要修改：
- 优化了 zenoh 插件：
- 更新 zenohc 库至 1.0.0.11 版本；
- 添加了 zenoh rpc 后端；
- 现在可以传入 zenoh 原生配置；
- mqtt 新增配置项以支持加密传输；
- 新增了第三方库 asio，runtime::core 不再引用 boost，改为引用独立的 asio 库，以减轻依赖；
- 新增 aimrt_cli trans 命令，用于将 使用 aimrt record_playback 插件录制的 bag 文件转换为 ros2 的 bag 文件；
- 新增 Echo 插件，用于回显消息；
次要修改：
- 缩短了一些 examples 的文件路径长度；
- 优化代码结构，移动代码 src/runtime/common/net 至新位置 src/common/net；
- 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；
- 新增了 aimrt_py rpc 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；
- 提供一键运行example的脚本，并生成测试报告；
- 修复 aimrt_py 多线程 rpc 调用 server 端概率性崩溃的问题；
- 为 aimrt_py 的 channel 功能提供了 Context 支持；
- 现在支持 install aimrt::runtime::core；
- 删除一些未使用的协议；
- 支持日志自定义输出格式；
- grpc 插件支持 ros2 消息以及 json 序列化格式；