# CyberRT

**Repository Path**: lyke3028/CyberRT

## Basic Information

- **Project Name**: CyberRT
- **Description**: Apollo CyberRT Cmake Build

GitHub 仓库: https://github.com/minhanghuang/CyberRT
- **Primary Language**: C++
- **License**: Apache-2.0
- **Default Branch**: master
- **Homepage**: https://github.com/minhanghuang/CyberRT
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 17
- **Created**: 2022-07-12
- **Last Updated**: 2022-08-02

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Apollo(v7.0.0) Cyber 

![CyberRT](./docs/CyberRT.gif)

## #1 env

```shell
Ubuntu18
```

```shell
sudo apt install libpoco-dev
sudo apt install uuid-dev
sudo apt install libncurses5-dev
// required libpython3.x.so
sudo apt install python3.6-dev 
pip3 install protobuf
```


## #2 build

1. download

```shell
git clone https://github.com/minhanghuang/CyberRT.git
cd CyberRT
```

2. export library path

> third party(gflag gtest glog fastrtps fastcdr...)

```shell
sudo mkdir /opt/cyber
sudo cp -r env/ /opt/cyber/env
```

```shell
// bash 
source /opt/cyber/env/setup.bash

// zsh 
source /opt/cyber/env/setup.zsh
```

3. generate protobuf

```shell
/opt/cyber/env/bin/protoc -I=cyber/proto/ --cpp_out=cyber/proto --python_out=cyber/proto cyber/proto/*.proto

/opt/cyber/env/bin/protoc -I=cyber/examples/proto/ --cpp_out=cyber/examples/proto cyber/examples/proto/*.proto
```

4. build

```shell
mkdir build && cd build
cmake -DCMAKE_EXPORT_COMPILE_COMMANDS=ON ..
make 
```

5. run examples

- pub/sub

> talker 

```shell
source setup.bash
./cyber/examples/cyber_example_talker
```
> listener

```shell
source setup.bash
./cyber/examples/cyber_example_listener
```

- server/client

> server 

```shell
source setup.bash
./cyber/examples/cyber_example_server
```

> client 

```shell
source setup.bash
./cyber/examples/cyber_example_cilent
```

- component

```shell
source setup.bash
cyber_launch start share/examples/common.launch
./cyber/examples/common_component_example/channel_prediction_writer
./cyber/examples/common_component_example/channel_test_writer
```

## #3 tools

- channel 

> list

```
source setup.bash
cyber_channel list

// The number of channels is:  1
// /apollo/test
```

> echo 
```shell
source setup.bash
cyber_channel echo /apollo/test
```
![example](docs/cyber_echo.png)

> more ...

```shell
Commands:
	cyber_channel list	list active channels
	cyber_channel info	print information about active channel
	cyber_channel echo	print messages to screen
	cyber_channel hz	display publishing rate of channel
	cyber_channel bw	display bandwidth used by channel
	cyber_channel type	print channel type
```

- node 

```shell
Commands:
	cyber_node list 	List active nodes.
	cyber_node info 	Print node info.
```

- service 

```shell
Commands:
	cyber_service list	list active services
	cyber_service info	print information about active service
```

- launch 

```shell
cyber_launch start share/examples/common.launch
```

- monitor 

```shell
cyber_monitor
```

- recorder 

```shell
Commands: 
  	cyber_recorder info	Show information of an exist record.
	cyber_recorder play	Play an exist record.
	cyber_recorder record	Record same topic.
	cyber_recorder split	Split an exist record.
	cyber_recorder recover	Recover an exist record.
```

## #4 打包安装 

```shell
cmake -DCMAKE_INSTALL_PREFIX=安装路径 ..
make 
make package
sudo dpkg -i package/libcyber_xxx.deb
```