fix

Author: hanjun

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/app/helloworld_app/CMakeLists.txt

@@ -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/app/helloworld_app/main.cc

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

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

@@ -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/install/bin/start_helloworld.sh

@@ -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/CMakeLists.txt

@@ -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/src/module/helloworld_module/helloworld_module.cc

@@ -0,0 +1,17 @@
+# Set target name
+set(CUR_TARGET_NAME "helloworld_pkg")
+
+# Set file collection
+file(GLOB_RECURSE src ${CMAKE_CURRENT_SOURCE_DIR}/*.cc)
+
+# Add target
+add_library(${CUR_TARGET_NAME} SHARED)
+
+# 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_pkg_c_interface
+          helloworld_module)