Abstract interface for VLink/webviz message conversion plugins supporting multiple visualization backends. 更多...

#include <message_convert_plugin.h>

vlink::MessageConvertPlugin 的协作图:

Public 成员函数
virtual bool	init (const std::string &config)=0
	Initialises the plugin with an optional configuration string.
virtual bool	can_convert (const std::string &vlink_ser, ConvertTarget target)=0
	Tests whether this plugin can handle the given VLink serialisation type for the specified target backend.
virtual bool	get_schema_info (const std::string &vlink_ser, ConvertTarget target, std::string &type_name, std::string &encoding, std::string &schema_encoding, std::string &schema_data)=0
	Returns schema/type metadata for the given VLink type and target backend.
virtual bool	convert (const std::string &vlink_ser, const Bytes &raw, ConvertTarget target, Bytes &payload)=0
	Converts a raw VLink message to a backend-specific payload.
virtual int64_t	extract_timestamp (const std::string &vlink_ser, const Bytes &raw, ConvertTarget target)
	Extracts a message-level timestamp from the raw message, in nanoseconds.
virtual bool	can_convert_frontend (const WebChannel &channel, ConvertTarget target)
	Tests whether this plugin handles a frontend-published channel.
virtual bool	get_publish_info (const WebChannel &channel, ConvertTarget target, VlinkPublish &publish_info)
	Resolves the destination VLink publish URL and serialisation type for an inbound frontend channel.
virtual bool	convert_frontend (const WebChannel &channel, const Bytes &raw, ConvertTarget target, Bytes &payload)
	Converts a frontend-published payload into a raw VLink message payload.

Protected 成员函数
	MessageConvertPlugin ()=default
virtual	~MessageConvertPlugin ()=default

详细描述

Abstract interface for VLink/webviz message conversion plugins supporting multiple visualization backends.

Loaded as a dynamic plugin via Plugin::load<MessageConvertPlugin>().

The plugin must be thread-safe: convert() may be called concurrently from multiple ProxyAPI data callback threads.

A plugin may support only one target or both. Return false from can_convert() for unsupported targets.

构造及析构函数说明

◆ MessageConvertPlugin()

vlink::MessageConvertPlugin::MessageConvertPlugin ( )

protecteddefault

◆ ~MessageConvertPlugin()

virtual vlink::MessageConvertPlugin::~MessageConvertPlugin ( )

protectedvirtualdefault

成员函数说明

◆ can_convert()

virtual bool vlink::MessageConvertPlugin::can_convert	(	const std::string &	vlink_ser,
		ConvertTarget	target )

nodiscardpure virtual

Tests whether this plugin can handle the given VLink serialisation type for the specified target backend.

Called during channel/topic discovery for each new VLink type. If this returns true, get_schema_info() and convert() will be used for that type. The result may be cached by the caller.

参数

vlink_ser	VLink serialisation type name (e.g. `"proto.VehiclePose"`).
target	The visualization backend requesting the conversion.

返回: true if this plugin handles the type for the given target.

◆ can_convert_frontend()

virtual bool vlink::MessageConvertPlugin::can_convert_frontend	(	const WebChannel &	channel,
		ConvertTarget	target )

inlinenodiscardvirtual

Tests whether this plugin handles a frontend-published channel.

This hook is used for inbound command/control flows such as Foxglove clientPublish. The default implementation returns false.

◆ convert()

virtual bool vlink::MessageConvertPlugin::convert	(	const std::string &	vlink_ser,
		const Bytes &	raw,
		ConvertTarget	target,
		Bytes &	payload )

nodiscardpure virtual

Converts a raw VLink message to a backend-specific payload.

Called for every incoming message whose type was accepted by can_convert().

For ConvertTarget::kFoxglove, the plugin should build the target Foxglove FlatBuffer (or Protobuf) and write the result to payload using Bytes::deep_copy() or Bytes::create().

For ConvertTarget::kRerun, the plugin should produce a UTF-8 JSON string describing the Rerun archetype components. The JSON format is documented in the file-level documentation. Write the JSON bytes to payload.

This method must be thread-safe.

参数

[in]	vlink_ser	VLink serialisation type name.
[in]	raw	Raw serialised message bytes from VLink.
[in]	target	The visualization backend requesting the conversion.
[out]	payload	Output buffer for the converted payload.

返回: true on success.

◆ convert_frontend()

virtual bool vlink::MessageConvertPlugin::convert_frontend	(	const WebChannel &	channel,
		const Bytes &	raw,
		ConvertTarget	target,
		Bytes &	payload )

inlinenodiscardvirtual

Converts a frontend-published payload into a raw VLink message payload.

Called for each inbound frontend message after get_publish_info() resolved the destination topic. The plugin should write the destination raw VLink payload to payload.

The default implementation returns false.

◆ extract_timestamp()

virtual int64_t vlink::MessageConvertPlugin::extract_timestamp	(	const std::string &	vlink_ser,
		const Bytes &	raw,
		ConvertTarget	target )

inlinenodiscardvirtual

Extracts a message-level timestamp from the raw message, in nanoseconds.

Called after convert() to obtain a per-message timestamp derived from the message content (e.g. a sensor timestamp field). This allows the visualization frontend to use the actual data timestamp rather than the proxy transport timestamp.

The default implementation returns -1 (not available), meaning the server falls back to the proxy-provided timestamp. Override this method to extract timestamps from your message format.

参数

[in]	vlink_ser	VLink serialisation type name.
[in]	raw	Raw serialised message bytes from VLink.
[in]	target	The visualization backend.

返回: Timestamp in nanoseconds since epoch, or -1 if not available.

◆ get_publish_info()

virtual bool vlink::MessageConvertPlugin::get_publish_info	(	const WebChannel &	channel,
		ConvertTarget	target,
		VlinkPublish &	publish_info )

inlinenodiscardvirtual

Resolves the destination VLink publish URL and serialisation type for an inbound frontend channel.

Called when a frontend channel is advertised. Returning true enables the host to provision the required VLink publisher(s) ahead of time.

The default implementation returns false.

◆ get_schema_info()

virtual bool vlink::MessageConvertPlugin::get_schema_info	(	const std::string &	vlink_ser,
		ConvertTarget	target,
		std::string &	type_name,
		std::string &	encoding,
		std::string &	schema_encoding,
		std::string &	schema_data )

nodiscardpure virtual

Returns schema/type metadata for the given VLink type and target backend.

Called once per type during channel/topic registration.

For ConvertTarget::kFoxglove, the plugin must fill in the Foxglove schema name, encoding type, schema encoding, and the binary schema data (typically a serialised FlatBuffers binary schema .bfbs file content).

For ConvertTarget::kRerun, the plugin should fill in:

type_name: Rerun archetype name (e.g. "Points3D", "EncodedImage")
encoding: "json" (the payload format)
schema_encoding and schema_data may be left empty.

参数

[in]	vlink_ser	VLink serialisation type name.
[in]	target	The visualization backend requesting the metadata.
[out]	type_name	Schema/archetype name.
[out]	encoding	Wire encoding (e.g. `"flatbuffers"`, `"json"`).
[out]	schema_encoding	Schema encoding (Foxglove only, e.g. `"flatbuffers"`).
[out]	schema_data	Binary schema data bytes (Foxglove only).

返回: true on success.

◆ init()

virtual bool vlink::MessageConvertPlugin::init ( const std::string & config )

pure virtual

Initialises the plugin with an optional configuration string.

Called once after the plugin is loaded. The config parameter may contain a file path, JSON string, or any format the plugin understands. Returning false causes the plugin to be unloaded.

参数

config Configuration string (may be empty).

返回: true on success, false if initialisation failed.

该类的文档由以下文件生成:

include/vlink/extension/message_convert_plugin.h

Public 成员函数

Protected 成员函数

详细描述

构造及析构函数说明

◆ MessageConvertPlugin()

◆ ~MessageConvertPlugin()

成员函数说明

◆ can_convert()

◆ can_convert_frontend()

◆ convert()

◆ convert_frontend()

◆ extract_timestamp()

◆ get_publish_info()

◆ get_schema_info()

◆ init()