Plug-in structure
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(Difference between revisions)
(New page: The plug-in consist of an interface module, as a minimum. The interface module should create a resource module for the needed calculations. This resource may communicate with other plug-i...) |
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| − | + | == Introduction == | |
| + | A plug-in is a library module that be loaded by an AURS server and extend the functionality of the server. The plug-in can use the services provided by the server core. | ||
| − | The | + | The services provided by the server includes: |
| − | + | * Service to direct commands from a client to the plugin (XML-formatted) | |
| + | * API to decode XML commands | ||
| + | * Access to specific data sources - e.g. odometry pose, laser scans or camera images. | ||
| + | * API for global variable creation and access - for parameter configuration and module status. | ||
| + | * Access to data from other plug-ins | ||
| + | * API to call functions in other plug-ins | ||
| + | * API to allow other plug-ins to call this plug-in | ||
| + | |||
| + | == Minimum plugin == | ||
| + | |||
| + | A minimum plug-in can reply to a command and show a bit of online help. | ||
| + | |||
| + | Two codefiles and a Makefile is needed (see the minimum directory in the code) | ||
| + | |||
| + | Makefile | ||
| + | ufuncminimum.h | ||
| + | ufuncminimum.cpp | ||
| + | |||
| + | |||
| + | |||
| + | The Makefile gives the name of the plug-in and must know which files to compile. | ||
| + | |||
| + | @todo which lines | ||
| + | |||
| + | == Global variables and inter-plug-in calls == | ||
| + | |||
| + | See also [[Variables]] | ||
| + | |||
| + | == Laser scanner access == | ||
| + | |||
| + | @todo | ||
| + | |||
| + | ==Camera image access== | ||
| + | |||
| + | @todo | ||
Revision as of 09:43, 25 April 2010
Contents |
Introduction
A plug-in is a library module that be loaded by an AURS server and extend the functionality of the server. The plug-in can use the services provided by the server core.
The services provided by the server includes:
- Service to direct commands from a client to the plugin (XML-formatted)
- API to decode XML commands
- Access to specific data sources - e.g. odometry pose, laser scans or camera images.
- API for global variable creation and access - for parameter configuration and module status.
- Access to data from other plug-ins
- API to call functions in other plug-ins
- API to allow other plug-ins to call this plug-in
Minimum plugin
A minimum plug-in can reply to a command and show a bit of online help.
Two codefiles and a Makefile is needed (see the minimum directory in the code)
Makefile ufuncminimum.h ufuncminimum.cpp
The Makefile gives the name of the plug-in and must know which files to compile.
@todo which lines
Global variables and inter-plug-in calls
See also Variables
Laser scanner access
@todo
Camera image access
@todo
