Method Initialize

src/plugins/proxy_plugin/proxy_action.cc:53–90

namespace aimrt::plugins::proxy_plugin {
void ProxyAction::Initialize(YAML::Node options) {
  if (options && !options.IsNull())
    options_ = options.as<Options>();

  for (auto& topic_meta : options_.topic_meta_list) {
    // check msg type
    auto type_support_ref = get_type_support_func_(topic_meta.msg_type);
    AIMRT_CHECK_ERROR_THROW(type_support_ref, "Can not get type support for msg type '{}'.", topic_meta.msg_type);

    // check duplicate topic meta
    runtime::core::util::TopicMetaKey key{
        .topic_name = topic_meta.sub_topic_name,
        .msg_type = topic_meta.msg_type};

    AIMRT_CHECK_ERROR_THROW(
        topic_meta_map_.find(key) == topic_meta_map_.end(),
        "Duplicate topic meta, topic name: {}, msg type: {}.",
        topic_meta.sub_topic_name, topic_meta.msg_type);

    TopicMeta topic_meta_info{
        .topic_name = topic_meta.sub_topic_name,
        .msg_type = topic_meta.msg_type,
        .pub_topic_name = topic_meta.pub_topic_name};
    topic_meta_map_.emplace(key, topic_meta_info);

    // check duplicate pub topic name
    for (const auto& pub_topic_name : topic_meta.pub_topic_name) {
      runtime::core::util::TopicMetaKey pub_key{
          .topic_name = pub_topic_name,
          .msg_type = topic_meta.msg_type};
      AIMRT_CHECK_ERROR_THROW(
          pub_topic_name_set_.find(pub_key) == pub_topic_name_set_.end(),
          "Duplicate pub topic name: {}, msg type: {}.",
          pub_topic_name, topic_meta.msg_type);
      pub_topic_name_set_.insert(pub_key);
    }
  }
}

void ProxyAction::InitExecutor() {
  executor_ = get_executor_func_(options_.executor);