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Component development

Before you begin

The repository's component model is based on Component and TimerComponent from the cyber runtime.

Pattern

A component typically:

  • declares readers or a timer interval
  • implements Init()
  • implements Proc(...) or Proc()
  • registers itself via CYBER_REGISTER_COMPONENT

The canonical example is examples/common_component_example.

Steps

1. Review the example files

  • examples/common_component_example/common_component_example.cc
  • examples/common_component_example/common_component_example.h
  • examples/common_component_example/common.dag
  • examples/common_component_example/common.launch

2. Build the example

bazel build //examples/common_component_example/...

3. Run the component

cyber_launch start examples/common_component_example/common.launch

Or:

mainboard -d examples/common_component_example/common.dag

DAG shape

module_config {
  module_library: "../bazel-bin/examples/common_component_example/libcommon_component_example.so"
  components {
    class_name: "CommonComponentSample"
    config {
      name: "common"
      readers { channel: "/apollo/prediction" }
      readers { channel: "/apollo/test" }
    }
  }
}

The reader count must match the component arity.

Timer variant

The timer example is in examples/timer_component_example:

bazel build //examples/timer_component_example/...
cyber_launch start examples/timer_component_example/timer.launch

This variant uses timer_components with an interval instead of input readers.

Verify

The component loads from the shared library and processes input as configured in the DAG.

Next