7e4b5460c2
* 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>
2.8 KiB
2.8 KiB
echo插件
相关链接
参考示例：
- {{ 'echo_plugin'.format(code_site_root_path_url) }}
插件概述
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。
插件的配置项如下：
| 节点 | 类型 | 是否可选 | 默认值 | 作用 |
|---|---|---|---|---|
| type_support_pkgs | array | 必选 | [] | type support 包配置 |
| type_support_pkgs[i].path | string | 必选 | "" | type support 包的路径 |
| executor | string | 可选 | "" | 回显使用的执行器，要求必须是线程安全 |
| topic_meta_list | array | 必选 | [] | 要回显的 topic 和类型 |
| topic_meta_list[j].topic_name | string | 必选 | "" | 要回显的 topic |
| topic_meta_list[j].msg_type | string | 必选 | "" | 要回显的消息类型 |
| 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" |
回显消息的简单示例配置
回显消息的存在两种配置，分别是 是否指定执行器 和 回显消息的格式：
- 是否指定执行器： 插件会使用指定的执行器来处理回显消息，如果未指定执行器，则使用默认的执行器；
- 回显消息的格式： ros2 消息类型 支持 "json", "yaml" ， pb只支持 "json"
以下是一个带执行器的回显消息格式为 json 的简单示例配置：
aimrt:
plugin:
plugins:
- name: echo_plugin
path: ./libaimrt_echo_plugin.so
options:
type_support_pkgs:
- path: ./libexample_event_ts_pkg.so
executor: echo_executor
topic_meta_list:
- topic_name: test_topic
msg_type: pb:aimrt.protocols.example.ExampleEventMsg
echo_type: json
executor:
executors:
- name: echo_executor
type: simple_thread
channel:
# ...
以下是一个不带执行器的回显消息格式为 json 的简单示例配置：
aimrt:
plugin:
plugins:
- name: echo_plugin
path: ./libaimrt_echo_plugin.so
options:
type_support_pkgs:
- path: ./libexample_event_ts_pkg.so
topic_meta_list:
- topic_name: test_topic
msg_type: pb:aimrt.protocols.example.ExampleEventMsg
echo_type: json
executor:
executors:
- name: echo_executor
type: simple_thread
channel:
# ...