79 lines
2.8 KiB
Markdown
79 lines
2.8 KiB
Markdown
# Hướng Dẫn Viết Plugin recovery_core
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Package hiện có 4 plugin mẫu dưới `plugins/`:
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- `clear_costmap_recovery` — nhóm B, one-shot, no output.
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- `rotate_recovery` — nhóm C, per-cycle velocity.
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- `back_up_recovery` — nhóm C, per-cycle velocity.
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- `regen_path_recovery` — nhóm A, path output.
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## Bước chung
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1. Kế thừa `recovery_core::RecoveryBehavior`.
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2. Override `initialize()` — đọc param riêng qua `robot::NodeHandle("~/" + name)`, cache
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tf/global_path/costmap.
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3. Override method theo họ (xem dưới) + `status()`.
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4. Thêm factory `static Ptr create()` **không tham số** + `BOOST_DLL_ALIAS(...)`.
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## Override theo họ
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| Họ | Override | Trả về |
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|----|----------|--------|
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| A. path | `runBehavior()` | `RecoveryResult::PathOut(path, kSucceeded)` |
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| B. none | `runBehavior()` | `RecoveryResult::Succeeded()` / `Failed()` |
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| C. velocity | `computeCommand(dt)` | `RecoveryResult::Velocity(twist, kRunning|kSucceeded)` |
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## Export bằng Boost.DLL (bắt buộc cho plugin)
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```cpp
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#include <recovery_core/recovery_behavior.h>
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#include <boost/dll/alias.hpp>
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namespace recovery_plugins {
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class SpinRecovery : public recovery_core::RecoveryBehavior {
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public:
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static recovery_core::RecoveryBehavior::Ptr create() {
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return std::make_shared<SpinRecovery>();
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}
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// override initialize()/computeCommand()/runBehavior()/status()...
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};
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} // namespace recovery_plugins
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// alias = `type` dùng trong YAML recovery_behaviors.
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BOOST_DLL_ALIAS(recovery_plugins::SpinRecovery::create, spin_recovery)
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```
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## Nạp phía loader (adapter/caller — không nằm trong recovery_core)
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```cpp
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#include <boost/dll/import.hpp>
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auto loader = boost::dll::import_alias<recovery_core::RecoveryBehavior::Ptr()>(
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path_so, /*symbol=*/type, boost::dll::load_mode::append_decorations);
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recovery_core::RecoveryBehavior::Ptr behavior = loader();
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behavior->initialize(name, tf, global_path, global_costmap, local_costmap);
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```
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Lưu ý: adapter/test phải giữ handle `.so` sống lâu hơn object plugin. Nếu library bị unload trong
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khi object plugin còn tồn tại, virtual call qua vtable của plugin có thể crash.
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## CMake cho plugin
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- `find_package(Boost REQUIRED COMPONENTS system filesystem)`
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- link `${Boost_LIBRARIES}`, `${CMAKE_DL_LIBS}`, `recovery_core`
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- `set_target_properties(<plugin> PROPERTIES POSITION_INDEPENDENT_CODE ON)`
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- build shared library, tên library + symbol khớp `type`; install `.so` nơi loader tìm.
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## Test plugin
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```bash
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catkin_make --pkg recovery_core
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./devel/lib/recovery_core/recovery_core_plugin_loader_test
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```
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Standalone:
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```bash
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cmake -S src/AMR_T800/pnkx_nav_core/src/Navigations/Libraries/recovery_core -B /tmp/recovery_core_phase3_build
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make -C /tmp/recovery_core_phase3_build -j4
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/tmp/recovery_core_phase3_build/test/recovery_core_plugin_loader_test
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```
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