convert_plugin_interface.h 文件参考

Plugin contract for converting VLink payloads to visualisation backend formats. 更多...

#include <cstdint>
#include <string>
#include "../base/bytes.h"
#include "../base/plugin.h"
#include "../impl/types.h"

convert_plugin_interface.h 的引用(Include)关系图:

浏览源代码.

类
class	vlink::ConvertPluginInterface
	Abstract plugin base translating between VLink payloads and visualisation backends. 更多...
struct	vlink::ConvertPluginInterface::SchemaInfo
	Backend channel schema metadata returned by get_schema(). 更多...
struct	vlink::ConvertPluginInterface::FrontendChannel
	Frontend-advertised channel description used by inbound conversion hooks. 更多...
struct	vlink::ConvertPluginInterface::PublishInfo
	VLink publish destination resolved from an inbound frontend channel. 更多...

命名空间
	vlink

详细描述

Plugin contract for converting VLink payloads to visualisation backend formats.

ConvertPluginInterface lets users supply custom encoders that translate raw VLink messages – in any serialisation – into the payload format expected by a particular webviz frontend. The plugin is loaded as a shared library via the VLink Plugin framework and has no third-party dependencies of its own: it consumes Bytes and emits Bytes, so consumers may implement it without linking Protobuf, FlatBuffers, the Rerun SDK or any JSON library.

Conversion pipeline:

*                          can_convert(ser, target)?
*   VLink Bytes  ----->  +-----------------------+
*                        |  ConvertPluginInterface |  --get_schema(ser, target, info)--> channel registration
*                        +-----------------------+
*                                 |
*                                 v convert(ser, raw, target, payload)
*                              backend Bytes  --->  Foxglove / Rerun frontend
* 

Supported source/target combinations and the meaning of each output field:

Target	Wire payload	SchemaInfo::type_name meaning
kFoxglove	FlatBuffer / Protobuf binary bytes	Foxglove schema name
kRerun	UTF-8 JSON describing components	Rerun archetype name

Rerun JSON payload format

Plugins targeting Rerun emit a UTF-8 JSON object whose fields match the Rerun archetype. Binary archetypes carry their bytes through a data_base64 field.

// Points3D
{ "positions": [[1.0, 2.0, 3.0], [4.0, 5.0, 6.0]],
  "colors":    [[255, 0, 0, 255], [0, 255, 0, 255]],
  "radii":     [0.1, 0.2] }
 
// EncodedImage  (binary payload base64-encoded)
{ "media_type": "image/jpeg",
  "data_base64": "<base64 image bytes>" }
 
// GeoPoints
{ "lat_deg": [37.7749, 37.7750],
  "lon_deg": [-122.4194, -122.4195] }
 
// TextLog
{ "text": "Hello world", "level": "INFO" }
 
// Scalars
{ "value": 3.14 }
 
// Transform3D
{ "translation":   [1.0, 2.0, 3.0],
  "rotation_quat": [0.0, 0.0, 0.0, 1.0] }
 
// Boxes3D
{ "half_sizes":  [[1.0, 2.0, 3.0]],
  "centers":     [[0.0, 0.0, 0.0]],
  "quaternions": [[0.0, 0.0, 0.0, 1.0]],
  "colors":      [[255, 0, 0, 255]],
  "labels":      ["box1"] }
 
// Pinhole
{ "image_from_camera": [[fx, 0, cx], [0, fy, cy], [0, 0, 1]],
  "resolution":        [1920, 1080] }

The built-in Rerun JSON bridge currently handles data_base64 for EncodedImage, Image, DepthImage, SegmentationImage, EncodedDepthImage, Asset3D, AssetVideo and Tensor. Image, DepthImage and SegmentationImage also require width / height (or resolution). Tensor additionally requires shape and may provide dim_names. Direct VLink-to-Rerun mappings still cover a broader set of archetypes than the JSON bridge.

Plugin lifecycle:

1. init() runs once after dynamic load, with an opaque configuration string.
2. can_convert() is queried per discovered VLink serialisation type, per target.
3. get_schema() is called once per accepted type to register the channel.
4. convert() runs for every incoming payload on accepted types.
5. Optional reverse hooks (can_publish(), get_publish(), convert_publish()) handle inbound frontend command/control flows.
6. The destructor runs when the host unloads the plugin.

Example

#include <vlink/extension/convert_plugin_interface.h>
 
class MyConvertPlugin : public vlink::ConvertPluginInterface {
  VLINK_PLUGIN_REGISTER(ConvertPluginInterface)
 
 public:
  bool init(const std::string& config) override {
    (void)config;
    return true;
  }
 
  bool can_convert(const std::string& ser_type, Target target) override {
    return ser_type == "my_pkg.MyMessage";
  }
 
  bool get_schema(const std::string& ser_type, Target target,
                  SchemaInfo& schema_info) override {
    if (target == Target::kFoxglove) {
      schema_info.type_name = "foxglove.LocationFix";
      schema_info.encoding = "flatbuffers";
      schema_info.schema_encoding = "flatbuffers";
      // schema_info.schema_data = compiled BFBS bytes
    } else {
      schema_info.type_name = "GeoPoints";
      schema_info.encoding = "json";
    }
    return true;
  }
 
  bool convert(const std::string& ser_type, const vlink::Bytes& raw,
               Target target, vlink::Bytes& payload) override {
    if (target == Target::kRerun) {
      std::string json = R"({"lat_deg":[37.77],"lon_deg":[-122.41]})";
      payload = vlink::Bytes::deep_copy(json.data(), json.size());
    }
    return true;
  }
};
VLINK_PLUGIN_DECLARE(MyConvertPlugin, 4, 0)