CoreRef

Related Links

Reference example:

• examples_py_helloworld_app_mode.py

Interface Overview

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

• When a developer inherits the ModuleBase type to implement their own Module, the AimRT framework passes a CoreRef handle in the Initialize method;

• When using the Create Module approach, AimRT returns the corresponding module’s CoreRef handle after creating a Module;

The core interfaces provided in CoreRef are as follows:

• Info()->ModuleInfo : Get module information;

• GetConfigurator()->ConfiguratorRef : Get configuration handle;

• GetLogger()->LoggerRef : Get logger handle;

• GetExecutorManager()->ExecutorManagerRef : Get executor handle;

• GetRpcHandle()->RpcHandleRef : Get RPC handle;

• GetChannelHandle()->ChannelHandleRef : Get Channel handle;

Key points regarding the use of CoreRef:

• The AimRT framework generates a dedicated CoreRef handle for each module to enable features like resource isolation and monitoring. The module it belongs to can be identified via the CoreRef::Info interface.

• Corresponding component handles can be obtained through the GetXXX interfaces in CoreRef to invoke related functionalities. Refer to the documentation for specific components:

  • Configurator

  • Executor

  • Logger

  • Channel

  • Rpc

Usage Examples

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

import aimrt_py

class HelloWorldModule(aimrt_py.ModuleBase):
    def Initialize(self, core):
        assert(isinstance(core, aimrt_py.CoreRef))

        # Get log handle
        logger = core.GetLogger()

        # Use log handle
        aimrt_py.info(logger, "This is a test log")
        return True

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

import aimrt_py

def main():
    aimrt_core = aimrt_py.Core()

    # Initialize
    core_options = aimrt_py.CoreOptions()
    core_options.cfg_file_path = "path/to/cfg/xxx_cfg.yaml"
    aimrt_core.Initialize(core_options)

    # Get module handle
    module_handle = aimrt_core.CreateModule("HelloWorldPyModule")
    assert(isinstance(module_handle, aimrt_py.CoreRef))

    # Use log handle
    aimrt_py.info(module_handle.GetLogger(), "This is an example log.")

    # ...

if __name__ == '__main__':
    main()