proxy_plugin

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Reference example:

• proxy_plugin

Plugin Overview

proxy_plugin is used to proxy and forward messages in the Channel. The plugin supports an independent type_support_pkg and allows specifying an executor, where the executor must be thread-safe. When in use, the plugin registers one or more Channel Subscribers or Publishers based on the configuration.

The plugin configuration items are as follows:

Node	Type	Optional	Default	Purpose
type_support_pkgs	array	Required	[]	type support package configuration
type_support_pkgs[i].path	string	Required	“”	path to the type support package
proxy_actions	array	Required	[]	proxy forwarding configuration
proxy_actions[i].name	string	Required	“”	proxy forwarding name
proxy_actions[i].options	object	Required	{}	proxy forwarding configuration
proxy_actions[i].options.executor	string	Required	“”	proxy forwarding executor
proxy_actions[i].options.topic_meta_list	array	Required	[]	topics and types to be proxied and forwarded
proxy_actions[i].options.topic_meta_list[j].topic_name	string	Required	“”	topic to be proxied and forwarded
proxy_actions[i].options.topic_meta_list[j].msg_type	string	Required	“”	message type to be proxied and forwarded
proxy_actions[i].options.topic_meta_list[j].pub_topic_name	array	Required	[]	topic after proxy forwarding

Please note that in proxy_plugin, proxy forwarding actions are managed in units of action. Each proxy forwarding action can have its own executor, topics, and other parameters. When in use, reasonable resources can be allocated for each action based on the actual data size and frequency.

Simple Example Configuration for Proxy Forwarding

The following is a simple example configuration that proxies and forwards a topic message with an http backend to two topics with zenoh and ros2 backends. For proxy_plugin, an executor must be specified for each action, and at the channel level, a backend must be specified for each subscribed topic and forwarded topic. For configurations of other related plugins, please refer to net_plugin, zenoh_plugin, and ros2_plugin;

aimrt:
  plugin:
    plugins:
      - name: proxy_plugin
        path: ./libaimrt_proxy_plugin.so
        options:
          type_support_pkgs:
            - path: ./libexample_pb_ts.so
          proxy_actions:
            - name: my_proxy
              options:
                executor: proxy_plugin_executor
                topic_meta_list:
                  - sub_topic_name: test_topic_http
                    pub_topic_name: [test_topic_zenoh, test_topic_ros2]
                    msg_type: pb:aimrt.protocols.example.ExampleEventMsg
      - name: zenoh_plugin
        path: ./libaimrt_zenoh_plugin.so
      - name: ros2_plugin
        path: ./libaimrt_ros2_plugin.so
        options:
          node_name: example_ros2_pb_chn_publisher_node
          executor_type: MultiThreaded # SingleThreaded/StaticSingleThreaded/MultiThreaded
          executor_thread_num: 2
      - name: net_plugin
        path: ./libaimrt_net_plugin.so
        options:
          thread_num: 4
          http_options:
          listen_ip: 127.0.0.1
          listen_port: 50081
  channel:
    backends:
      - type: http
      - type: zenoh
      - type: ros2
    sub_topics_options:
      - topic_name: test_topic_http
        enable_backends: [http]
    pub_topics_options:
      - topic_name: test_topic_zenoh
        enable_backends: [zenoh]
      - topic_name: test_topic_ros2
        enable_backends: [ros2]
    # ...