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Controller Plugin Project

Directory Structure​

The project is mainly divided into third-party libraries, configuration files, usage examples, main source code under src, and xcore_api.

example
├──3rdparty/
├──config/ 
├──examples/  
├──src/ 
├──xcore_api/ 
├──CMakeLists.txt
└──README.md

Third-Party Libraries (3rdparty)​

This mainly includes third-party libraries in use: g3log, jsoncpp, gtest, and others.

The plugin only needs the header files of these libraries. To make it easier for users to use third-party libraries independently, corresponding lib packages are provided so users can link the libraries and build standalone executables.

The following sections introduce common log and json library usage.

config Directory​

All files under this directory are packaged into the plugin binary data. Files can be read directly through the cmrc interface.

    CMRC_DECLARE(cmrc_config);  
    auto cmrc_fs = cmrc::cmrc_config::get_filesystem();
    // All json files under the conf_data directory
    auto file_path = "cmrc_config/conf_data/" + dir_in_conf_data;
    for (auto&& entry : cmrc_fs.iterate_directory(file_path)) {
        Json::Value root;
        auto json_file = cmrc_fs.open(file_path + entry.filename());
        auto json_str = std::string(json_file.begin(), json_file.end());
        xcore_api::utils::LoadFromStringAPI(root,json_str);
        ret[dir_in_conf_data + entry.filename()] = root;
    }

examples Directory​

Contains plugin usage examples. Users can refer to these examples to learn how to use the API.

example_launch is the entry point for these examples.

src Directory​

The main plugin source code. Users can place their own code in this directory.

A built-in launch module currently serves as the plugin entry program.

Users can add their own implementation logic under this directory.

xcore_api Directory​

Interfaces exported by the controller. Users can use controller functionality through these interfaces.

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