Helloworld pkg

README.md

@@ -8,9 +8,12 @@ English | [中文](README.zh_CN.md)
 
 ## Sample List
 
-| Sample                               | Description                                                                                                    | Level  |
-| :----------------------------------- | :------------------------------------------------------------------------------------------------------------- | :----- |
-| [helloworld](./helloworld)           | A simple example demonstrating how to use AimRT framework                                                      | :star: |
-| [my_pb_channel](./my_pb_channel)     | A simple example demonstrating publisher-subscriber communication using the Channel API with Protobuf messages | :star: |
-| [my_ros2_channel](./my_ros2_channel) | A simple example demonstrating publisher-subscriber communication using the Channel API with ROS2 messages     | :star: |
-| [my_pb_rpc](./my_pb_rpc)             | A simple example demonstrating publisher-subscriber communication using the Rpc API with Protobuf messages     | :star: |
+| Example                              | Description                                                                                                | Level        |
+| :----------------------------------- | :--------------------------------------------------------------------------------------------------------- | :----------- |
+| [helloworld](./helloworld)           | A simple example demonstrating how to use AimRT framework in app mode                                      | :star:       |
+| [helloworld_pkg](./helloworld_pkg)   | A simple example demonstrating how to use AimRT framework in pkg mode                                      | :star:       |
+| [my_pb_channel](./my_pb_channel)     | A simple example demonstrating publisher-subscriber communication using Channel API with Protobuf messages | :star:       |
+| [my_ros2_channel](./my_ros2_channel) | A simple example demonstrating publisher-subscriber communication using Channel API with ROS2 messages     | :star:       |
+| [my_pb_rpc](./my_pb_rpc)             | A simple example demonstrating request-response communication using Rpc API with Protobuf messages         | :star:       |
+| [my_ros2_rpc](./my_ros2_rpc)         | A simple example demonstrating request-response communication using Rpc API with ROS2 messages             | :star:       |
+| [human_detector](./human_detector)   | Publishes camera data via Channel API and performs face detection using OpenCV                             | :star::star: |

README.zh_CN.md

@@ -8,13 +8,12 @@
 
 ## 示例列表
 
-| 示例                                 | 描述                                                                     | 级别   |
-| :----------------------------------- | :----------------------------------------------------------------------- | :----- |
-| [helloworld](./helloworld)           | 演示如何使用 AimRT 框架的 app 模式的简单示例                             | :star: |
-| [helloworld_pkg](./helloworld_pkg)   | 演示如何使用 AimRT 框架的 pkg 模式的简单示例                             | :star: |
-| [my_pb_channel](./my_pb_channel)     | 演示使用 Channel API 进行发布者-订阅者通信的简单示例，使用 Protobuf 消息 | :star: |
-| [my_ros2_channel](./my_ros2_channel) | 演示使用 Channel API 进行发布者-订阅者通信的简单示例，使用 ROS2 消息     | :star: |
-| [my_pb_rpc](./my_pb_rpc)             | 演示使用 Rpc API 进行发布者-订阅者通信的简单示例，使用 Protobuf 消息     | :star: |
-| [my_ros2_rpc](./my_ros2_rpc)         | 演示使用 Rpc API 进行发布者-订阅者通信的简单示例，使用 ROS2 消息         | :star: |
-
-## 贡献
+| 示例                                 | 描述                                                                                  | 级别          |
+| :----------------------------------- | :------------------------------------------------------------------------------------ | :------------ |
+| [helloworld](./helloworld)           | 演示如何使用 AimRT 框架的 app 模式的简单示例                                          | :star:        |
+| [helloworld_pkg](./helloworld_pkg)   | 演示如何使用 AimRT 框架的 pkg 模式的简单示例                                          | :star:        |
+| [my_pb_channel](./my_pb_channel)     | 演示使用 Channel API 进行发布者-订阅者通信的简单示例，使用 Protobuf 消息              | :star:        |
+| [my_ros2_channel](./my_ros2_channel) | 演示使用 Channel API 进行发布者-订阅者通信的简单示例，使用 ROS2 消息                  | :star:        |
+| [my_pb_rpc](./my_pb_rpc)             | 演示使用 Rpc API 进行发布者-订阅者通信的简单示例，使用 Protobuf 消息                  | :star:        |
+| [my_ros2_rpc](./my_ros2_rpc)         | 演示使用 Rpc API 进行发布者-订阅者通信的简单示例，使用 ROS2 消息                      | :star:        |
+| [human_detector](./human_detector)   | 演示使用 Channel API 通过发布订阅传输系统摄像头数据，并使用 OpenCV 进行人脸识别的示例 | :star: :star: |

helloworld/cmake/GetAimRT.cmake

@@ -6,7 +6,7 @@ include(FetchContent)
 message(STATUS "get aimrt ...")
 
 set(aimrt_DOWNLOAD_URL
-    "https://github.com/AimRT/AimRT/archive/refs/tags/v1.0.0.tar.gz"
+    "https://github.com/AimRT/AimRT/archive/refs/tags/v1.4.0.tar.gz"
     CACHE STRING "")
 
 if(aimrt_LOCAL_SOURCE)
@@ -27,6 +27,7 @@ function(get_aimrt)
   FetchContent_GetProperties(aimrt)
   if(NOT aimrt_POPULATED)
     set(AIMRT_BUILD_RUNTIME ON)
+    set(AIMRT_BUILD_WITH_PROTOBUF ON)
 
     FetchContent_MakeAvailable(aimrt)
   endif()

helloworld/src/CMakeLists.txt

@@ -3,12 +3,13 @@
 
 add_subdirectory(module/helloworld_module)
 
-add_subdirectory(app/helloworld_app)
+add_subdirectory(pkg/helloworld_pkg)
 
 add_custom_target(
   ${PROJECT_NAME}_build_all ALL
   COMMAND ${CMAKE_COMMAND} -E copy_directory ${CMAKE_CURRENT_SOURCE_DIR}/install/bin ${CMAKE_BINARY_DIR}
-  DEPENDS helloworld_app)
+  DEPENDS aimrt::runtime::main
+          helloworld_pkg)
 
 # Install
 if(AIMRT_SAMPLES_INSTALL)

helloworld/src/install/bin/cfg/helloworld_cfg.yaml

@@ -1,21 +1,26 @@
-# AimRT core configuration
 aimrt:
-  log: # log configuration
-    core_lvl: INFO # core log level, options: Trace/Debug/Info/Warn/Error/Fatal/Off, case-insensitive
-    backends: # log backends
-      - type: console #  print to console
+  log:
+    core_lvl: INFO # Trace/Debug/Info/Warn/Error/Fatal/Off
+    backends:
+      - type: console
+      - type: rotate_file
         options:
-          color: true # colored print
-      - type: rotate_file # print to file and rotate
+          path: ./log
+          filename: helloworld.log
+          max_file_size_m: 4
+          max_file_num: 10
+  executor:
+    executors:
+      - name: work_executor
+        type: asio_thread
         options:
-          path: ./log # log file path
-          filename: helloworld.log # log file name
-          max_file_size_m: 4 # log file max size, unit: MB
-          max_file_num: 10 # max log file num, 0 means unlimited
+          thread_num: 4
+  module:
+    pkgs:
+      - path: ./libhelloworld_pkg.so
+        enable_modules: [HelloWorldModule]
 
 # Custom module configuration
-# the framework will generate a temporary configuration file for each module,
-# and the developer can get the configuration file path through the Configurator interface.
 HelloWorldModule:
-  key1: val1
-  key2: val2
+  param1: val1
+  param2: 2

helloworld/src/install/bin/start_helloworld.sh

@@ -1,3 +1,3 @@
 #!/bin/sh
 
-./helloworld_app ./cfg/helloworld_cfg.yaml
+./aimrt_main --cfg_file_path=./cfg/helloworld_cfg.yaml

helloworld/src/module/helloworld_module/CMakeLists.txt

@@ -6,7 +6,6 @@ file(GLOB_RECURSE src ${CMAKE_CURRENT_SOURCE_DIR}/*.cc)
 
 # Add target
 add_library(helloworld_module STATIC)
-add_library(helloworld::helloworld_module ALIAS helloworld_module)
 
 # Set source file of target
 target_sources(helloworld_module PRIVATE ${src})

helloworld/src/module/helloworld_module/helloworld_module.cc

@@ -5,38 +5,74 @@
 #include "yaml-cpp/yaml.h"  // IWYU pragma: keep
 
 bool HelloWorldModule::Initialize(aimrt::CoreRef core) {
-  core_ = core;
+  ctx_ptr_ = std::make_shared<aimrt::context::Context>(core);
+  ctx_ptr_->LetMe();
 
   try {
+    // Write your other initialization logic here ...
     // Read custom module configuration
-    auto file_path = core_.GetConfigurator().GetConfigFilePath();
+    auto file_path = ctx_ptr_->GetConfigFilePath();
     if (!file_path.empty()) {
       YAML::Node cfg_node = YAML::LoadFile(file_path.data());
-      for (const auto& itr : cfg_node) {
-        auto k = itr.first.as<std::string>();
-        auto v = itr.second.as<std::string>();
-        AIMRT_INFO("cfg [{} : {}]", k, v);
-      }
+      param1_ = cfg_node["param1"].as<std::string>();
+      param2_ = cfg_node["param2"].as<int>();
     }
-    // Write your other initialization logic here ...
+
+    // Get executor handle
+    executor_ = ctx_ptr_->CreateExecutor("work_executor");
+
+    timer_ = aimrt::executor::CreateTimer(
+        executor_,
+        std::chrono::milliseconds(1000),
+        [this]() { 
+          ctx_ptr_->LetMe();
+          Task(); },
+        false);
 
   } catch (const std::exception& e) {
     AIMRT_ERROR("Init failed, {}", e.what());
     return false;
   }
-
-  AIMRT_INFO("Init succeeded.");
-
   return true;
 }
 
 bool HelloWorldModule::Start() {
   // Write your runtime logic here
-  AIMRT_INFO("Start succeeded.");
+  // use timer
+  timer_->Reset();
+
+  // use executor
+  executor_.Execute([this]() { ctx_ptr_->LetMe(); LoopTask(); });
+
+  // use co_task
+  scope_.spawn(aimrt::co::On(aimrt::co::InlineScheduler(), CoLoopTask()));
   return true;
 }
 
 void HelloWorldModule::Shutdown() {
   // Write your resource release logic here
-  AIMRT_INFO("Shutdown succeeded.");
+  ctx_ptr_->StopRunning();
+  timer_->Cancel();
+  aimrt::co::SyncWait(scope_.complete());
+}
+
+void HelloWorldModule::Task() {
+  AIMRT_INFO("Single Task param1: {}, param2: {}", param1_, param2_);
+}
+
+void HelloWorldModule::LoopTask() {
+  while (ctx_ptr_->Running()) {
+    AIMRT_WARN("Loop Task param1: {}, param2: {}", param1_, param2_);
+    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+  }
+}
+
+aimrt::co::Task<void> HelloWorldModule::CoLoopTask() {
+  auto scheduler = aimrt::co::AimRTScheduler(executor_);
+  while (ctx_ptr_->Running()) {
+    ctx_ptr_->LetMe();
+    AIMRT_ERROR("CoLoop Task param1: {}, param2: {}", param1_, param2_);
+    co_await aimrt::co::ScheduleAfter(scheduler, std::chrono::milliseconds(1000));
+  }
+  co_return;
 }

helloworld/src/module/helloworld_module/helloworld_module.h

@@ -3,7 +3,7 @@
 
 #pragma once
 
-#include "aimrt_module_cpp_interface/module_base.h"
+#include "aimrt_module_cpp_interface/aimrt_module_cpp_interface.h"
 
 class HelloWorldModule : public aimrt::ModuleBase {
  public:
@@ -19,8 +19,22 @@ class HelloWorldModule : public aimrt::ModuleBase {
   void Shutdown() override;
 
  private:
-  auto GetLogger() { return core_.GetLogger(); }
+  void Task();
+  void LoopTask();
+  aimrt::co::Task<void> CoLoopTask();
 
  private:
-  aimrt::CoreRef core_;
+  std::shared_ptr<aimrt::context::Context> ctx_ptr_;
+
+  std::string param1_;
+  int param2_;
+
+  // 通用执行器
+  aimrt::executor::ExecutorRef executor_;
+
+  // 定时器
+  std::shared_ptr<aimrt::executor::TimerBase> timer_;
+
+  // 协程作用域
+  aimrt::co::AsyncScope scope_;
 };

helloworld_pkg/src/pkg/helloworld_pkg/CMakeLists.txt → helloworld/src/pkg/helloworld_pkg/CMakeLists.txt

@@ -6,7 +6,6 @@ file(GLOB_RECURSE src ${CMAKE_CURRENT_SOURCE_DIR}/*.cc)
 
 # Add target
 add_library(${CUR_TARGET_NAME} SHARED)
-add_library(helloworld::${CUR_TARGET_NAME} ALIAS ${CUR_TARGET_NAME})
 
 # Set source file of target
 target_sources(${CUR_TARGET_NAME} PRIVATE ${src})
@@ -15,4 +14,4 @@ target_sources(${CUR_TARGET_NAME} PRIVATE ${src})
 target_link_libraries(
   ${CUR_TARGET_NAME}
   PRIVATE aimrt::interface::aimrt_pkg_c_interface
-          helloworld::helloworld_module)
+          helloworld_module)

helloworld_pkg/src/pkg/helloworld_pkg/pkg_main.cc → helloworld/src/pkg/helloworld_pkg/pkg_main.cc

@@ -3,6 +3,7 @@
 
 static std::tuple<std::string_view, std::function<aimrt::ModuleBase*()>> aimrt_module_register_array[]{
     // Here register all modules in the package
-    {"HelloWorldModule", []() -> aimrt::ModuleBase* { return new HelloWorldModule(); }}};
+    {"HelloWorldModule", []() -> aimrt::ModuleBase* { return new HelloWorldModule(); }},
+};
 
 AIMRT_PKG_MAIN(aimrt_module_register_array)