CoreRef

Related Links

Code files:

• aimrt_module_cpp_interface/core.h

Reference examples:

• helloworld_module.cc

Interface Overview

aimrt::CoreRef is the root handle type for invoking framework functionality. It can be obtained in two ways:

• Developers implement their own Module by inheriting the ModuleBase type. In the Initialize method, the AimRT framework will pass in an aimrt::CoreRef handle;

• In App mode, when creating a module via Create Module, AimRT will return the corresponding module’s aimrt::CoreRef handle after creating a Module;

The core interfaces provided in aimrt::CoreRef are as follows:

namespace aimrt {

class CoreRef {
 public:
  ModuleInfo Info() const;

  configurator::ConfiguratorRef GetConfigurator() const;

  executor::ExecutorManagerRef GetExecutorManager() const;

  logger::LoggerRef GetLogger() const;

  rpc::RpcHandleRef GetRpcHandle() const;

  channel::ChannelHandleRef GetChannelHandle() const;

  parameter::ParameterHandleRef GetParameterHandle() const;
};

}  // namespace aimrt

Usage notes for aimrt::CoreRef:

• The AimRT framework generates an exclusive CoreRef handle for each module to enable features like resource isolation and monitoring. You can obtain information about the module to which it belongs via the CoreRef::Info interface.

• You can obtain handles to corresponding components via the GetXXX interfaces in CoreRef to invoke related functionality. Please refer to the documentation for specific components:

  • Configurator

  • Executor

  • Logger

  • Parameter

  • Channel

  • Rpc

Usage Examples

Below is a simple usage example demonstrating how to obtain and use the aimrt::CoreRef handle when inheriting the ModuleBase type:

class HelloWorldModule : public aimrt::ModuleBase {
 public:
  // ...

  bool Initialize(aimrt::CoreRef core) override {
    // Get log handle
    auto logger = core.GetLogger();

    // Use log handle
    AIMRT_HL_INFO(logger, "This is a test log");

    return true;
  }
};

Below is another simple usage example demonstrating how to obtain and use the aimrt::CoreRef handle in App mode:

int32_t main(int32_t argc, char** argv) {
  AimRTCore core;

  // Initialize
  AimRTCore::Options options;
  if (argc > 1) options.cfg_file_path = argv[1];
  core.Initialize(options);

  // Get CoreRef handle
  aimrt::CoreRef module_handle(core.GetModuleManager().CreateModule("HelloWorldModule"));

  // Get log handle
  auto logger = module_handle.GetLogger();
  
  // Use log handle
  AIMRT_HL_INFO(logger, "This is a test log");

  // ...
}