Plug-in structure: Difference between revisions
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(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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The plug-in | == 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 08:43, 25 April 2010
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
