CoreRef

Related Links

Reference Example:

• examples_py_helloworld_app_mode.py

Interface Overview

CoreRef is the root handle type for invoking framework functionalities, which can be obtained in the following two ways:

• Developers inherit the ModuleBase type to implement their own Module. In the Initialize method, the AimRT framework will pass in a CoreRef handle;

• Through the Create Module approach, AimRT will return the corresponding module’s CoreRef handle after creating a Module.

The core interfaces provided by CoreRef are as follows:

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

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

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

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

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

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

Notes on using CoreRef:

• The AimRT framework generates a dedicated CoreRef handle for each module to achieve functionalities such as resource isolation and monitoring. The module information it belongs to can be obtained through the CoreRef::Info interface.

• The corresponding component handles can be obtained through the GetXXX interfaces in CoreRef to invoke related functionalities. For specific component documentation, please refer to:

  • Configurator

  • Executor

  • Logger

  • Channel

  • Rpc

Usage Examples

The following 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

The following 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()