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>
78 lines
2.8 KiB
Markdown
78 lines
2.8 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。
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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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| executor | string | 可选 | "" | 回显使用的执行器，要求必须是线程安全 |
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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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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：
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- 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；
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- 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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以下是一个带执行器的回显消息格式为 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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executor: echo_executor
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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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executor:
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executors:
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- name: echo_executor
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type: simple_thread
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channel:
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# ...
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```
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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：
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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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executor:
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executors:
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- name: echo_executor
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type: simple_thread
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channel:
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# ...
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```
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