56 const
std::string& json_str);
57 using DvCallback = std::function<bool(
const std::string& function_name,
58 const nlohmann::json& param_json)>;
66 bool SendMsgToPlugin(
const std::string& json_str);
69 bool RegisterPlugins();
70 bool RegisterPlugin(
const std::shared_ptr<PluginConfig>& plugin_config);
71 auto InitPluginReader(
const ChannelConf& channel_conf,
72 const std::string& channel_prefix,
73 const std::string& plugin_name)
74 -> std::shared_ptr<cyber::Reader<DvPluginMsg>>;
75 auto InitPluginWriterAndMsg(
const ChannelConf& channel_conf,
76 const std::string& channel_prefix,
77 const std::string& plugin_name)
78 -> std::shared_ptr<cyber::Writer<DvPluginMsg>>;
79 bool CheckPluginStatus(
const std::string& plugin_name);
80 void RegisterDvSupportApi(
const std::string& api_name,
const DvApi& api);
81 void RegisterDvSupportApis();
82 bool ReceiveMsgFromPlugin(
const DvPluginMsg& msg);
83 bool UpdateData(
const DvPluginMsg& msg,
const std::string& json_str);
84 std::map<std::string, PluginInfo> plugins_;
85 std::unique_ptr<cyber::Node> node_;
88 std::map<std::string, DvApi> dv_support_apis_;
89 DvCallback callback_api_;