feat: add proxy plugin to transfer messages from one backend to multi…

…ple backends (AimRT#108) * feat(plugins): add proxy plugin * feat: add proxy action * feat: del the state in proxy action * feat: format * fix : add check not to pub same topic and msg_type * fix: remove TimerSchedule executor check * docs: add docs * doc: change docs * fix: remove some unnessary code * refactor(proxy_plugin): migrate TopicMetaKey to core/util directory * fix: simplify the code * format * fix: struct bind * perf(proxy): use action_raw_ptr capture rather than reference capture local variable * docs: update proxy_plugin documentation and add example configuration * fix: remove necessary check in echo plugin * doc: add proxy plugin example docs * fix: migrate recordplayback plugin and echo plugin's topic_meta_key into util * fix: format * fix: remove necessary code * perf: remove unnecessary code
postrantor · Nov 23, 2024 · 18d45db · 18d45db
1 parent df5d21e
commit 18d45db
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -44,6 +44,7 @@ cmake_dependent_option(AIMRT_BUILD_TIME_MANIPULATOR_PLUGIN "AimRT build time man
 cmake_dependent_option(AIMRT_BUILD_PARAMETER_PLUGIN "AimRT build parameter plugin." OFF "AIMRT_BUILD_RUNTIME;AIMRT_BUILD_WITH_PROTOBUF" OFF)
 cmake_dependent_option(AIMRT_BUILD_LOG_CONTROL_PLUGIN "AimRT build log control plugin." OFF "AIMRT_BUILD_RUNTIME;AIMRT_BUILD_WITH_PROTOBUF" OFF)
 cmake_dependent_option(AIMRT_BUILD_GRPC_PLUGIN "AimRT build grpc plugin." OFF "AIMRT_BUILD_RUNTIME" OFF)
+cmake_dependent_option(AIMRT_BUILD_PROXY_PLUGIN "AimRT build proxy plugin." OFF "AIMRT_BUILD_RUNTIME" OFF)
 
 option(AIMRT_INSTALL "Enable installation of AimRT." ON)
 

diff --git a/build.bat b/build.bat
@@ -32,6 +32,7 @@ cmake -B build ^
     -DAIMRT_BUILD_OPENTELEMETRY_PLUGIN=OFF ^
     -DAIMRT_BUILD_GRPC_PLUGIN=OFF ^
     -DAIMRT_BUILD_ECHO_PLUGIN=OFF ^
+    -DAIMRT_BUILD_PROXY_PLUGIN=ON ^
     -DAIMRT_BUILD_PYTHON_PACKAGE=ON ^
     %*
 

diff --git a/build.sh b/build.sh
@@ -34,6 +34,7 @@ cmake -B build \
     -DAIMRT_BUILD_OPENTELEMETRY_PLUGIN=ON \
     -DAIMRT_BUILD_GRPC_PLUGIN=ON \
     -DAIMRT_BUILD_ECHO_PLUGIN=ON \
+    -DAIMRT_BUILD_PROXY_PLUGIN=ON \
     -DAIMRT_BUILD_PYTHON_PACKAGE=ON \
     $@
 

diff --git a/document/sphinx-cn/release_notes/v0_9_0.md b/document/sphinx-cn/release_notes/v0_9_0.md
@@ -11,6 +11,7 @@
 - 新增 Echo 插件，用于回显消息；
 - 新增了基于执行器的定时器，方便执行定时任务；
 - aimrt_py channel 和 rpc 支持 ros2 消息类型；
+- 新增了 Proxy 插件，用于转发消息；
 
 **次要修改**：
 - 缩短了一些 examples 的文件路径长度；

diff --git a/document/sphinx-cn/tutorials/examples/examples_plugins.md b/document/sphinx-cn/tutorials/examples/examples_plugins.md
@@ -15,6 +15,7 @@ AimRT 提供了以下插件使用示例：
   - {{ '[time_manipulator_plugin]({}/src/examples/plugins/time_manipulator_plugin)'.format(code_site_root_path_url) }}
   - {{ '[zenoh_plugin]({}/src/examples/plugins/zenoh_plugin)'.format(code_site_root_path_url) }}
   - {{ '[echo_plugin]({}/src/examples/plugins/echo_plugin)'.format(code_site_root_path_url) }}
+  - {{ '[proxy_plugin]({}/src/examples/plugins/proxy_plugin)'.format(code_site_root_path_url) }}
 
 关于这些示例的说明：
 - 每个示例都有自己独立的 readme 文档，详情请点击示例链接进入后查看；

diff --git a/document/sphinx-cn/tutorials/index.md b/document/sphinx-cn/tutorials/index.md
@@ -103,6 +103,7 @@ plugins/zenoh_plugin.md
 plugins/iceoryx_plugin.md
 plugins/grpc_plugin.md
 plugins/echo_plugin.md
+plugins/proxy_plugin.md
 ```
 
 如果开发者想定制开发自己的插件，可以参考以下文档。

diff --git a/document/sphinx-cn/tutorials/plugins/proxy_plugin.md b/document/sphinx-cn/tutorials/plugins/proxy_plugin.md
@@ -0,0 +1,85 @@
+
+# echo插件
+
+## 相关链接
+
+参考示例：
+- {{ '[proxy_plugin]({}/src/examples/plugins/proxy_plugin)'.format(code_site_root_path_url) }}
+
+## 插件概述
+
+**proxy_plugin**用于对 Channel 中的消息进行代理转发，插件支持独立的 type_support_pkg，并支持指定执行器, 其中执行器需要线程安全，在使用时，插件会根据配置注册一个或多个 Channel Subscriber 或 Publisher。
+
+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 |
+| proxy_actions                     | array         | 必选  | []        | 代理转发配置 |
+| proxy_actions[i].name            | string        | 必选  | ""        | 代理转发名称 |
+| proxy_actions[i].options         | object        | 必选  | {}        | 代理转发配置 |
+| proxy_actions[i].options.executor| string        | 必选  | ""        | 代理转发执行器 |
+| proxy_actions[i].options.topic_meta_list                   | array         | 必选  | []        | 要代理转发的 topic 和类型 |
+| proxy_actions[i].options.topic_meta_list[j].topic_name     | string        | 必选  | ""        | 要代理转发的 topic |
+| proxy_actions[i].options.topic_meta_list[j].msg_type       | string        | 必选  | ""        | 要代理转发的消息类型 |
+| proxy_actions[i].options.topic_meta_list[j].pub_topic_name | array         | 必选  | []        | 代理转发后的 topic |
+
+
+请注意，**proxy_plugin**中是以`action`为单元管理代理转发动作的，每个代理转发`action`可以有自己的执行器、topic 等参数，使用时可以根据数据实际大小和频率，为每个 action 分配合理的资源。
+
+
+### 代理转发的简单示例配置
+
+以下是将一个以 http 为后端的 topic 消息代理转发到两个以 zenoh 和 ros2 为后端的 topic 的简单示例配置，对于 proxy_plugin 需要为每个 action 指定执行器，并且在 channel 处需要为每个订阅的 topic 和转发的 topic 指定后端，其他相关插件的配置请参考[net_plugin](./net_plugin.md), [zenoh_plugin](./zenoh_plugin.md) 和 [ros2_plugin](./ros2_plugin.md);
+
+```yaml
+aimrt:
+  plugin:
+    plugins:
+      - name: proxy_plugin
+        path: ./libaimrt_proxy_plugin.so
+        options:
+          type_support_pkgs:
+            - path: ./libexample_event_ts_pkg.so
+          proxy_actions:
+            - name: my_proxy
+              options:
+                executor: proxy_plugin_executor
+                topic_meta_list:
+                  - sub_topic_name: test_topic_http
+                    pub_topic_name: [test_topic_zenoh, test_topic_ros2]
+                    msg_type: pb:aimrt.protocols.example.ExampleEventMsg
+      - name: zenoh_plugin
+        path: ./libaimrt_zenoh_plugin.so
+      - name: ros2_plugin
+        path: ./libaimrt_ros2_plugin.so
+        options:
+          node_name: example_ros2_pb_chn_publisher_node
+          executor_type: MultiThreaded # SingleThreaded/StaticSingleThreaded/MultiThreaded
+          executor_thread_num: 2
+      - name: net_plugin
+        path: ./libaimrt_net_plugin.so
+        options:
+          thread_num: 4
+          http_options:
+          listen_ip: 127.0.0.1
+          listen_port: 50081
+  channel:
+    backends:
+      - type: http
+      - type: zenoh
+      - type: ros2
+    sub_topics_options:
+      - topic_name: test_topic_http
+        enable_backends: [http]
+    pub_topics_options:
+      - topic_name: test_topic_zenoh
+        enable_backends: [zenoh]
+      - topic_name: test_topic_ros2
+        enable_backends: [ros2]
+    # ...
+```
+
+
+
diff --git a/src/examples/plugins/CMakeLists.txt b/src/examples/plugins/CMakeLists.txt
@@ -61,3 +61,10 @@ endif()
 if(AIMRT_BUILD_WITH_PROTOBUF AND AIMRT_BUILD_GRPC_PLUGIN)
   add_subdirectory(grpc_plugin)
 endif()
+
+if(AIMRT_BUILD_PROXY_PLUGIN
+   AND AIMRT_BUILD_WITH_PROTOBUF
+   AND AIMRT_BUILD_NET_PLUGIN
+   AND AIMRT_BUILD_ZENOH_PLUGIN)
+  add_subdirectory(proxy_plugin)
+endif()
diff --git a/...examples/plugins/echo_plugin/install/linux/bin/start_examples_plugins_echo_plugin_ros2.sh b/...examples/plugins/echo_plugin/install/linux/bin/start_examples_plugins_echo_plugin_ros2.sh
@@ -1,3 +1,5 @@
 #!/bin/bash
 
+source install/share/example_ros2/local_setup.bash
+
 ./aimrt_main --cfg_file_path=./cfg/examples_plugins_echo_plugin_ros2_cfg.yaml
diff --git a/src/examples/plugins/proxy_plugin/CMakeLists.txt b/src/examples/plugins/proxy_plugin/CMakeLists.txt
@@ -0,0 +1,29 @@
+# Copyright (c) 2023, AgiBot Inc.
+# All rights reserved.
+
+# Get the current folder name
+string(REGEX REPLACE ".*/\(.*\)" "\\1" CUR_DIR ${CMAKE_CURRENT_SOURCE_DIR})
+
+# Set namespace
+set_namespace()
+
+# type_support_pkg
+add_subdirectory(example_event_ts_pkg)
+
+# install
+if(CMAKE_SYSTEM_NAME MATCHES "Linux")
+  set(CUR_INSTALL_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/install/linux)
+elseif(CMAKE_SYSTEM_NAME MATCHES "Windows")
+  set(CUR_INSTALL_SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/install/win)
+else()
+  message(FATAL_ERROR "Unsupport os")
+endif()
+
+# build all
+get_namespace(CUR_SUPERIOR_NAMESPACE)
+string(REPLACE "::" "_" CUR_SUPERIOR_NAMESPACE_UNDERLINE ${CUR_SUPERIOR_NAMESPACE})
+add_custom_target(
+  ${CUR_SUPERIOR_NAMESPACE_UNDERLINE}_${CUR_DIR}_build_all ALL
+  COMMAND ${CMAKE_COMMAND} -E copy_directory ${CUR_INSTALL_SOURCE_DIR}/bin ${CMAKE_BINARY_DIR}
+  DEPENDS aimrt::runtime::main #
+          aimrt::examples::cpp::pb_chn::pb_chn_pub_pkg)
diff --git a/src/examples/plugins/proxy_plugin/README.md b/src/examples/plugins/proxy_plugin/README.md
@@ -0,0 +1,30 @@
+# proxy plugin examples
+
+一个基于 **proxy_plugin** 的代理转发示例，演示内容包括：
+- 如何在启动时加载 **proxy_plugin**；
+- 如何配置消息转发的 topic；
+
+核心代码：
+- [event.proto](../../../protocols/example/event.proto)
+- [normal_publisher_module.cc](../../cpp/pb_chn/module/normal_publisher_module/normal_publisher_module.cc)
+- [type_support_pkg_main.cc](./example_event_ts_pkg/type_support_pkg_main.cc)
+
+
+配置文件：
+- [examples_plugins_proxy_plugin_http_pub_cfg.yaml](./install/linux/bin/cfg/examples_plugins_proxy_plugin_http_pub_cfg.yaml)
+- [examples_plugins_proxy_plugin_zenoh_sub_cfg.yaml](./install/linux/bin/cfg/examples_plugins_proxy_plugin_zenoh_sub_cfg.yaml)
+- [examples_plugins_proxy_plugin_cfg.yaml](./install/linux/bin/cfg/examples_plugins_proxy_plugin_cfg.yaml)
+
+
+运行方式（linux）：
+- 开启 `AIMRT_BUILD_EXAMPLES`、`AIMRT_BUILD_WITH_PROTOBUF`、`AIMRT_BUILD_WITH_PROXY_PLUGIN`、`AIMRT_BUILD_WITH_ZENOH_PLUGIN`、`AIMRT_BUILD_WITH_NET_PLUGIN` 选项编译 AimRT；
+- 分别运行 build 目录下 `start_examples_plugins_proxy_plugin_zenoh_sub.sh` ， `start_examples_plugins_proxy_plugin.sh` 和 `start_examples_plugins_proxy_plugin_http_pub.sh` 脚本启动进程；
+- 键入`ctrl-c`停止进程；
+
+
+说明：
+- 此示例创建了三个进程，分别为 http 发布消息进程、zenoh 订阅消息进程和 proxy 转发进程：
+  - `http_pub`，会以配置的频率，发布 `ExampleEventMsg` 消息到 `test_topic_http`；
+  - `proxy`，会使用 `proxy_plugin_executor` 执行器，执行代理消息转发操作；
+  - `zenoh_sub`，会订阅 `test_topic_zenoh`；
+- 请注意，proxy 插件的原理是向 AimRT 订阅指定的 Topic，因此需要在 channel 配置中为该 topic 设置合适的后端，以保证插件能接收到数据，在此示例中，`test_topic_http` 配置了 `http` 后端，`test_topic_zenoh` 配置了 `zenoh` 后端；
diff --git a/src/examples/plugins/proxy_plugin/example_event_ts_pkg/CMakeLists.txt b/src/examples/plugins/proxy_plugin/example_event_ts_pkg/CMakeLists.txt
@@ -0,0 +1,35 @@
+# Copyright (c) 2023, AgiBot Inc.
+# All rights reserved.
+
+# Get the current folder name
+string(REGEX REPLACE ".*/\(.*\)" "\\1" CUR_DIR ${CMAKE_CURRENT_SOURCE_DIR})
+
+# Get namespace
+get_namespace(CUR_SUPERIOR_NAMESPACE)
+string(REPLACE "::" "_" CUR_SUPERIOR_NAMESPACE_UNDERLINE ${CUR_SUPERIOR_NAMESPACE})
+
+# Set target name
+set(CUR_TARGET_NAME ${CUR_SUPERIOR_NAMESPACE_UNDERLINE}_${CUR_DIR})
+set(CUR_TARGET_ALIAS_NAME ${CUR_SUPERIOR_NAMESPACE}::${CUR_DIR})
+
+# Set file collection
+file(GLOB_RECURSE src ${CMAKE_CURRENT_SOURCE_DIR}/*.cc)
+
+# Add target
+add_library(${CUR_TARGET_NAME} SHARED)
+add_library(${CUR_TARGET_ALIAS_NAME} ALIAS ${CUR_TARGET_NAME})
+
+# Set source file of target
+target_sources(${CUR_TARGET_NAME} PRIVATE ${src})
+
+# Set link libraries of target
+target_link_libraries(
+  ${CUR_TARGET_NAME}
+  PRIVATE aimrt::interface::aimrt_type_support_pkg_c_interface
+          aimrt::interface::aimrt_module_protobuf_interface
+          aimrt::protocols::example_pb_gencode
+          aimrt::interface::aimrt_module_ros2_interface
+          example_ros2::example_ros2__rosidl_generator_cpp
+          example_ros2::example_ros2__rosidl_typesupport_cpp)
+# Set misc of target
+set_target_properties(${CUR_TARGET_NAME} PROPERTIES OUTPUT_NAME ${CUR_DIR})
diff --git a/src/examples/plugins/proxy_plugin/example_event_ts_pkg/type_support_pkg_main.cc b/src/examples/plugins/proxy_plugin/example_event_ts_pkg/type_support_pkg_main.cc
@@ -0,0 +1,27 @@
+// Copyright (c) 2023, AgiBot Inc.
+// All rights reserved.
+
+#include "aimrt_type_support_pkg_c_interface/type_support_pkg_main.h"
+
+#include "aimrt_module_protobuf_interface/util/protobuf_type_support.h"
+
+#include "aimrt_module_ros2_interface/util/ros2_type_support.h"
+
+#include "example_ros2/msg/ros_test_msg.hpp"
+
+#include "event.pb.h"
+
+static const aimrt_type_support_base_t* type_support_array[]{
+    aimrt::GetProtobufMessageTypeSupport<aimrt::protocols::example::ExampleEventMsg>(),
+    aimrt::GetRos2MessageTypeSupport<example_ros2::msg::RosTestMsg>()};
+
+extern "C" {
+
+size_t AimRTDynlibGetTypeSupportArrayLength() {
+  return sizeof(type_support_array) / sizeof(type_support_array[0]);
+}
+
+const aimrt_type_support_base_t** AimRTDynlibGetTypeSupportArray() {
+  return type_support_array;
+}
+}
diff --git a/...xamples/plugins/proxy_plugin/install/linux/bin/cfg/examples_plugins_proxy_plugin_cfg.yaml b/...xamples/plugins/proxy_plugin/install/linux/bin/cfg/examples_plugins_proxy_plugin_cfg.yaml
@@ -0,0 +1,52 @@
+# Copyright (c) 2023, AgiBot Inc.
+# All rights reserved.
+
+aimrt:
+  plugin:
+    plugins:
+      - name: proxy_plugin
+        path: ./libaimrt_proxy_plugin.so
+        options:
+          type_support_pkgs:
+            - path: ./libexample_event_ts_pkg.so
+          proxy_actions:
+            - name: my_proxy
+              options:
+                executor: proxy_plugin_executor
+                topic_meta_list:
+                  - sub_topic_name: test_topic_http
+                    pub_topic_name: [test_topic_zenoh]
+                    msg_type: pb:aimrt.protocols.example.ExampleEventMsg
+      - name: zenoh_plugin
+        path: ./libaimrt_zenoh_plugin.so
+      - name: net_plugin
+        path: ./libaimrt_net_plugin.so
+        options:
+          thread_num: 4
+          http_options:
+            listen_ip: 127.0.0.1
+            listen_port: 50080
+  log:
+    core_lvl: Info # Trace/Debug/Info/Warn/Error/Fatal/Off
+    backends:
+      - type: console
+
+  executor:
+    executors:
+      - name: work_thread_pool
+        type: asio_thread
+        options:
+          thread_num: 4
+      - name: proxy_plugin_executor
+        type: simple_thread
+
+  channel:
+    backends:
+      - type: zenoh
+      - type: http
+    sub_topics_options:
+      - topic_name: test_topic_http
+        enable_backends: [http]
+    pub_topics_options:
+      - topic_name: test_topic_zenoh
+        enable_backends: [zenoh]
diff --git a/...lugins/proxy_plugin/install/linux/bin/cfg/examples_plugins_proxy_plugin_http_pub_cfg.yaml b/...lugins/proxy_plugin/install/linux/bin/cfg/examples_plugins_proxy_plugin_http_pub_cfg.yaml
@@ -0,0 +1,45 @@
+# Copyright (c) 2023, AgiBot Inc.
+# All rights reserved.
+
+aimrt:
+  plugin:
+    plugins:
+      - name: net_plugin
+        path: ./libaimrt_net_plugin.so
+        options:
+          thread_num: 4
+          http_options:
+            listen_ip: 127.0.0.1
+            listen_port: 50081
+  log:
+    core_lvl: INFO # Trace/Debug/Info/Warn/Error/Fatal/Off
+    backends:
+      - type: console
+  executor:
+    executors:
+      - name: work_thread_pool
+        type: asio_thread
+        options:
+          thread_num: 2
+  channel:
+    backends:
+      - type: http
+        options:
+          pub_topics_options:
+            - topic_name: "(.*)"
+              server_url_list: ["127.0.0.1:50080"]
+    pub_topics_options:
+      - topic_name: "(.*)"
+        enable_backends: [http]
+  module:
+    pkgs:
+      - path: ./libpb_chn_pub_pkg.so
+        enable_modules: [NormalPublisherModule]
+    modules:
+      - name: NormalPublisherModule
+        log_lvl: INFO
+
+# Module custom configuration
+NormalPublisherModule:
+  topic_name: test_topic_http
+  channel_frq: 0.5