SDK依赖

概述

所有SDK依赖已预先集成在本地开发环境(aimde)中,通过Bazel统一管理。用户无需手动下载安装,只需在业务代码中按规范引入即可使用。

集成仓配置

架构路径定义

通过YAML配置文件指定不同架构的SDK路径: x86_64架构: projects/sdk_defs/x86_64.yaml

text

sdk:
  local:
    path: /sdk/dev_tools/x86_64/

ARM架构: projects/sdk_defs/orin_aarch64.yaml

text

sdk:
  local:
    path: /sdk/dev_tools/orin_aarch64/

SDK仓结构

目录说明

text

/sdk/dev_tools/{x86_64|orin_aarch64}/
    ├── aimdk/                              # Protobuf协议生成的头文件目录
    ├── aimrte/                             # HDS头文件目录
    ├── all_plugins/                        # 插件库目录(mqtt_plugin/ros2_plugin/net_plugin等)及其依赖
    ├── BUILD                               # SDK库的Bazel target定义文件
    ├── google/                             # Google Protobuf公共头文件(如any.pb.h)
    ├── libzy_aimrt_comm.so                 # aimrt_comm仓库API动态链接库
    ├── libzy_aimrt.so                      # aimrt仓库API动态链接库
    ├── libzy_health_diag_generation.so     # health_diag_generation仓库API动态链接库
    ├── libzy_task_engine.so                # aimrt_task_engine仓库API动态链接库
    ├── libzy_task_sdk.so                   # aima_task_sdk仓库API动态链接库
    ├── ros2/                               # ROS2协议生成的头文件目录
    ├── src/                                # 核心头文件目录(aimrt/aimrt_comm/aima_task_sdk/aimrt_task_engine)
    └── WORKSPACE                           # SDK仓库的Bazel WORKSPACE配置文件

核心库说明

库名称	功能描述
libaimrt	运行时核心库,提供基础运行时功能(网络、配置等)
libaimrt_comm	通信层库,包含Protobuf/ROS2协议及通用工具
libtask_sdk	任务SDK库,提供任务开发接口和模型调用能力
libtask_engine	任务引擎库,负责任务调度和同步协调
libhealth_diag_generation	健康诊断库,提供模块健康监控功能
all_plugins	插件集合(mqtt_plugin/ros2_plugin等)

BUILD定义示例

/sdk/dev_tools/x86_64/BUILD

text

# 导出所有SDK资源
package(default_visibility = ["//visibility:public"])
exports_files(glob(["**/*.h*", "**/*.inl", "**/*.so*"]))

# 核心库定义
cc_library(
    name = "libaimrt",
    srcs = ["libzy_aimrt.so"],
    hdrs = [
        "src/common/net/asio_http_cli.h",
        "src/runtime/core/util/yaml_tools.h",
        # ...
    ],
    deps = ["@asio//:asio", ...],
    linkopts = ["-ldl"],
    defines = ["BOOST_ASIO_NO_DEPRECATED"],
)

cc_library(
    name = "libaimrt_comm",
    srcs = ["libzy_aimrt_comm.so"],
    hdrs = [
        "aimdk/protocol/action/arm.pb.h",
        "ros2/.../msg/detail/region__rosidl_typesupport_fastrtps_cpp.hpp",
        "src/all_in_one/include/aimrte.h",
        # ...
    ],
    includes = ["ros2/perception", "aimdk/protocol/interaction", ...],
    deps = [
        "@boost_x86_64//:boost",
        "@ros2_common_interfaces//:cpp_geometry_msgs",
        "@sdk//:libaimrt",
        "@sdk//:libhealth_diag_generation",
        # ...
    ],
    defines = ["AIMRT_USE_FMT_LIB"],
)
...

# 插件文件组
filegroup(
    name = "all_plugins",
    srcs = glob(["all_plugins/**"]),
)

业务仓引入方式

引入核心库

通过 @sdk//: 前缀直接引用核心库target:

text

cc_binary(
    name = "aimdk_examples",
    srcs = [
        "main.cpp",
    ],
    deps = [
        ...
        "@sdk//:libaimrt",
        "@sdk//:libaimrt_comm",
    ],
)

插件引入

在 pkg_tar 的 deps 中通过 @integration//:all_plugins_tar 打包:

text

pkg_tar(
    name = "aimdk_examples_tar",
    srcs = [
    ],
    extension = "tar",
    mode = "0755",
    strip_prefix = ".",
    tags = ["tar"],
    include_runfiles = True,
    deps = [
        ...
        "@integration//:all_plugins_tar",
        ...
    ],
)