fix

hanjun · hanjun · commit 9960c48fb3f2 · 2026-02-24T09:10:12.000+08:00
diff --git a/my_pb_channel/src/install/bin/cfg/my_pb_channel_cfg.yaml b/my_pb_channel/src/install/bin/cfg/my_pb_channel_cfg.yaml
@@ -3,13 +3,12 @@ aimrt:
   log:
     backends:
       - type: console
-
   executor:
     executors:
-      - name: work_thread_pool
+      - name: pub_thread_pool
+        type: asio_thread
+      - name: sub_thread_pool
         type: asio_thread
-        options:
-          thread_num: 2
   channel:
     backends:
       - type: local
diff --git a/my_pb_channel/src/module/normal_publisher_module/normal_publisher_module.cc b/my_pb_channel/src/module/normal_publisher_module/normal_publisher_module.cc
@@ -21,7 +21,7 @@ bool NormalPublisherModule::Initialize(aimrt::CoreRef core) {
     }
 
     // Get executor handle with name "work_thread_pool",(it must be registered in aimrt config file)
-    executor_ = ctx_ptr_->CreateExecutor("work_thread_pool");
+    executor_ = ctx_ptr_->CreateExecutor("pub_thread_pool");
 
     // Register publish
     publisher_ = ctx_ptr_->CreatePublisher<aimrt_samples::protocols::EventMsg>(topic_name_);
diff --git a/my_pb_channel/src/module/normal_subscriber_module/normal_subscriber_module.cc b/my_pb_channel/src/module/normal_subscriber_module/normal_subscriber_module.cc
@@ -18,8 +18,10 @@ bool NormalSubscriberModule::Initialize(aimrt::CoreRef core) {
       topic_name_ = cfg_node["topic_name"].as<std::string>();
     }
 
+    executor_ = ctx_ptr_->CreateExecutor("sub_thread_pool");
     // Register subscriber
     subscriber_ = ctx_ptr_->CreateSubscriber<aimrt_samples::protocols::EventMsg>(topic_name_,
+                                                                                 executor_,
                                                                                  std::bind(&NormalSubscriberModule::EventHandle, this, std::placeholders::_1, std::placeholders::_2));
 
   } catch (const std::exception& e) {
diff --git a/my_pb_channel/src/module/normal_subscriber_module/normal_subscriber_module.h b/my_pb_channel/src/module/normal_subscriber_module/normal_subscriber_module.h
@@ -30,4 +30,5 @@ class NormalSubscriberModule : public aimrt::ModuleBase {
 
   std::string topic_name_ = "test_topic";
   aimrt::context::res::Subscriber<aimrt_samples::protocols::EventMsg> subscriber_;
+  aimrt::executor::ExecutorRef executor_;
 };
diff --git a/my_pb_rpc/cmake/GetAimRT.cmake b/my_pb_rpc/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)
diff --git a/my_pb_rpc/src/CMakeLists.txt b/my_pb_rpc/src/CMakeLists.txt
@@ -6,12 +6,13 @@ add_subdirectory(protocols)
 add_subdirectory(module/normal_client_module)
 add_subdirectory(module/normal_server_module)
 
-add_subdirectory(app/my_pb_rpc_app)
+add_subdirectory(pkg/my_pb_rpc_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 my_pb_rpc_app)
+  DEPENDS aimrt::runtime::main
+          my_pb_rpc_pkg)
 
 # Install
 if(AIMRT_SAMPLES_INSTALL)
diff --git a/my_pb_rpc/src/app/my_pb_rpc_app/CMakeLists.txt b/my_pb_rpc/src/app/my_pb_rpc_app/CMakeLists.txt
diff --git a/my_pb_rpc/src/app/my_pb_rpc_app/main.cc b/my_pb_rpc/src/app/my_pb_rpc_app/main.cc
diff --git a/my_pb_rpc/src/install/bin/cfg/my_pb_rpc_cfg.yaml b/my_pb_rpc/src/install/bin/cfg/my_pb_rpc_cfg.yaml
@@ -1,43 +1,29 @@
 # AimRT core configuration
 aimrt:
-  log: # log configuration
-    core_lvl: INFO # core log level, options: Trace/Debug/Info/Warn/Error/Fatal/Off, case-insensitive
-    default_module_lvl: INFO # module default log level
-    backends: # log backends
-      - type: console # print to console
-        options:
-          color: true # colored print
-      - type: rotate_file # print to file and rotate
-        options:
-          path: ./log # log file path
-          filename: my_pb_rpc.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
-  executor: # executor configuration
-    executors: # you want to create executors here
-      - name: work_thread_pool # name
+  log:
+    backends:
+      - type: console
+  executor:
+    executors:
+      - name: client_thread_pool
         type: asio_thread
-        options:
-          thread_num: 2 # thread num
-      - name: timeout_handle # name
-        type: time_wheel
-        options:
-          bind_executor: work_thread_pool
-  rpc: # rpc configuration
-    backends: # rpc backends
-      - type: local # use local backend
-        options:
-          timeout_executor: timeout_handle # set timeout executor
-    clients_options: # client endpoint options
-      - func_name: "(.*)" # select some function (support regex)
+      - name: server_thread_pool
+        type: asio_thread
+  rpc:
+    backends:
+      - type: local
+    clients_options:
+      - func_name: "(.*)"
         enable_backends: [local]
-    servers_options: # server endpoint options
-      - func_name: "(.*)" # select some function (support regex)
+    servers_options:
+      - func_name: "(.*)"
         enable_backends: [local]
 
+  module:
+    pkgs:
+      - path: ./libmy_pb_rpc_pkg.so
+        enable_modules: [NormalRpcClientModule, NormalRpcServerModule]
 # 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.
 NormalRpcClientModule:
   rpc_frq: 1
 
diff --git a/my_pb_rpc/src/install/bin/start_my_pb_rpc.sh b/my_pb_rpc/src/install/bin/start_my_pb_rpc.sh
@@ -1,3 +1,3 @@
 #!/bin/sh
 
-./my_pb_rpc_app ./cfg/my_pb_rpc_cfg.yaml
+./aimrt_main --cfg_file_path=./cfg/my_pb_rpc_cfg.yaml
diff --git a/my_pb_rpc/src/module/normal_client_module/normal_client_module.cc b/my_pb_rpc/src/module/normal_client_module/normal_client_module.cc
@@ -14,7 +14,8 @@ auto random_int(int min, int max) {
 }
 
 bool NormalRpcClientModule::Initialize(aimrt::CoreRef core) {
-  core_ = core;
+  ctx_ptr_ = std::make_shared<aimrt::context::Context>(core);
+  ctx_ptr_->LetMe();
 
   try {
     // Read cfg
@@ -24,19 +25,11 @@ bool NormalRpcClientModule::Initialize(aimrt::CoreRef core) {
       rpc_frq_ = cfg_node["rpc_frq"].as<double>();
     }
 
-    // Get executor handle with name "work_thread_pool",(it must be registered in aimrt config file)
-    executor_ = core_.GetExecutorManager().GetExecutor("work_thread_pool");
-    AIMRT_CHECK_ERROR_THROW(executor_, "Get executor 'work_thread_pool' failed.");
+    // Get executor
+    executor_ = ctx_ptr_->CreateExecutor("client_thread_pool");
 
-    // Register client(it contains two steps)
-    // Step1: register rpc_handel
-    auto rpc_handle = core_.GetRpcHandle();
-    AIMRT_CHECK_ERROR_THROW(rpc_handle, "Get rpc handle failed.");
-    bool ret = aimrt_samples::protocols::RegisterCalculationServiceClientFunc(rpc_handle);
-    AIMRT_CHECK_ERROR_THROW(ret, "Register client failed.");
-
-    // Step2: register client proxy
-    proxy_ = std::make_shared<aimrt_samples::protocols::CalculationServiceSyncProxy>(rpc_handle);
+    // Register client
+    client_ = ctx_ptr_->CreateClient<aimrt_samples::protocols::CalculationServiceCoClient>();
 
   } catch (const std::exception& e) {
     AIMRT_ERROR("Init failed, {}", e.what());
@@ -50,9 +43,8 @@ bool NormalRpcClientModule::Initialize(aimrt::CoreRef core) {
 
 bool NormalRpcClientModule::Start() {
   try {
-    run_flag_ = true;
     // Start main loop in executor_
-    executor_.Execute(std::bind(&NormalRpcClientModule::MainLoop, this));
+    executor_.Execute([this]() {ctx_ptr_->LetMe();MainLoop(); });
   } catch (const std::exception& e) {
     AIMRT_ERROR("Start failed, {}", e.what());
     return false;
@@ -63,26 +55,16 @@ bool NormalRpcClientModule::Start() {
 }
 
 void NormalRpcClientModule::Shutdown() {
-  try {
-    if (run_flag_) {
-      run_flag_ = false;
-      stop_sig_.get_future().wait();
-    }
-  } catch (const std::exception& e) {
-    AIMRT_ERROR("Shutdown failed, {}", e.what());
-    return;
-  }
+  ctx_ptr_->StopRunning();
 
   AIMRT_INFO("Shutdown succeeded.");
 }
 
 // Main loop
 void NormalRpcClientModule::MainLoop() {
   try {
-    AIMRT_INFO("Start MainLoop.");
-
     uint32_t count = 0;
-    while (run_flag_) {
+    while (ctx_ptr_->Running()) {
       // Sleep
       std::this_thread::sleep_for(std::chrono::milliseconds(static_cast<uint32_t>(1000 / rpc_frq_)));
 
diff --git a/my_pb_rpc/src/module/normal_client_module/normal_client_module.h b/my_pb_rpc/src/module/normal_client_module/normal_client_module.h
@@ -7,7 +7,7 @@
 #include <future>
 #include <memory>
 
-#include "aimrt_module_cpp_interface/module_base.h"
+#include "aimrt_module_cpp_interface/aimrt_module_cpp_interface.h"
 
 #include "rpc.aimrt_rpc.pb.h"
 
@@ -26,18 +26,17 @@ class NormalRpcClientModule : public aimrt::ModuleBase {
   void Shutdown() override;
 
  private:
-  auto GetLogger() { return core_.GetLogger(); }
-
   void MainLoop();
 
  private:
   aimrt::CoreRef core_;
   aimrt::executor::ExecutorRef executor_;
 
-  std::atomic_bool run_flag_ = false;
-  std::promise<void> stop_sig_;
+  std::shared_ptr<aimrt::context::Context> ctx_ptr_;
 
   double rpc_frq_ = 0.5;
 
   std::shared_ptr<aimrt_samples::protocols::CalculationServiceSyncProxy> proxy_;
+
+  aimrt_samples::protocols::CalculationServiceCoClient client_;
 };
diff --git a/my_pb_rpc/src/pkg/my_pb_rpc_pkg/CMakeLists.txt b/my_pb_rpc/src/pkg/my_pb_rpc_pkg/CMakeLists.txt
@@ -0,0 +1,18 @@
+# Set target name
+set(CUR_TARGET_NAME "my_pb_rpc_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
+          my_pb_rpc::normal_client_module
+          my_pb_rpc::normal_server_module)
diff --git a/my_pb_rpc/src/pkg/my_pb_rpc_pkg/pkg_main.cc b/my_pb_rpc/src/pkg/my_pb_rpc_pkg/pkg_main.cc
@@ -0,0 +1,11 @@
+#include "aimrt_pkg_c_interface/pkg_macro.h"
+#include "normal_client_module/normal_client_module.h"
+#include "normal_server_module/normal_server_module.h"
+
+static std::tuple<std::string_view, std::function<aimrt::ModuleBase*()>> aimrt_module_register_array[]{
+    // Here register all modules in the package
+    {"NormalRpcClientModule", []() -> aimrt::ModuleBase* { return new NormalRpcClientModule(); }},
+    {"NormalRpcServerModule", []() -> aimrt::ModuleBase* { return new NormalRpcServerModule(); }},
+};
+
+AIMRT_PKG_MAIN(aimrt_module_register_array)

Original file line number	Diff line number	Diff line change
`@@ -21,7 +21,7 @@ bool NormalPublisherModule::Initialize(aimrt::CoreRef core) {`
`21`	`21`	`}`
`22`	`22`
`23`	`23`	`// Get executor handle with name "work_thread_pool",(it must be registered in aimrt config file)`
`24`		`- executor_ = ctx_ptr_->CreateExecutor("work_thread_pool");`
	`24`	`+ executor_ = ctx_ptr_->CreateExecutor("pub_thread_pool");`
`25`	`25`
`26`	`26`	`// Register publish`
`27`	`27`	`publisher_ = ctx_ptr_->CreatePublisher<aimrt_samples::protocols::EventMsg>(topic_name_);`
Original file line number	Diff line number	Diff line change
`@@ -18,8 +18,10 @@ bool NormalSubscriberModule::Initialize(aimrt::CoreRef core) {`
`18`	`18`	`topic_name_ = cfg_node["topic_name"].as<std::string>();`
`19`	`19`	`}`
`20`	`20`
	`21`	`+ executor_ = ctx_ptr_->CreateExecutor("sub_thread_pool");`
`21`	`22`	`// Register subscriber`
`22`	`23`	`subscriber_ = ctx_ptr_->CreateSubscriber<aimrt_samples::protocols::EventMsg>(topic_name_,`
	`24`	`+ executor_,`
`23`	`25`	`std::bind(&NormalSubscriberModule::EventHandle, this, std::placeholders::_1, std::placeholders::_2));`
`24`	`26`
`25`	`27`	`} catch (const std::exception& e) {`
Original file line number	Diff line number	Diff line change
`@@ -1,3 +1,3 @@`
`1`	`1`	`#!/bin/sh`
`2`	`2`
`3`		`-./my_pb_rpc_app ./cfg/my_pb_rpc_cfg.yaml`
	`3`	`+./aimrt_main --cfg_file_path=./cfg/my_pb_rpc_cfg.yaml`