Merge branch 'master' into feature/ecal-core-api-v6

eclipse-ecal · Dec 6, 2024 · d6664ba · d6664ba
2 parents 30bd570 + c0eadc2
commit d6664ba
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Showing 59 changed files with 376 additions and 1,775 deletions.
diff --git a/app/meas_cutter/src/config_file_parser.h b/app/meas_cutter/src/config_file_parser.h
@@ -1,6 +1,6 @@
 /* ========================= eCAL LICENSE =================================
  *
- * Copyright (C) 2016 - 2019 Continental Corporation
+ * Copyright (C) 2016 - 2024 Continental Corporation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -21,7 +21,7 @@
 #include <iostream>
 #include <ecal_utils/filesystem.h>
 
-#define YAML_CPP_STATIC_DEFINE
+//#define YAML_CPP_STATIC_DEFINE // set by CMake
 #include <yaml-cpp/yaml.h>
 
 #include "utils.h"

diff --git a/app/meas_cutter/src/utils.h b/app/meas_cutter/src/utils.h
@@ -1,6 +1,6 @@
 /* ========================= eCAL LICENSE =================================
  *
- * Copyright (C) 2016 - 2019 Continental Corporation
+ * Copyright (C) 2016 - 2024 Continental Corporation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -26,7 +26,7 @@
 #include <fstream>
 #include <algorithm>
 
-#define YAML_CPP_STATIC_DEFINE
+//#define YAML_CPP_STATIC_DEFINE // set by CMake
 #include "yaml-cpp/yaml.h"
 
 #include <ecal_utils/str_convert.h>

diff --git a/app/mon/mon_cli/src/ecal_mon_cli.cpp b/app/mon/mon_cli/src/ecal_mon_cli.cpp
@@ -351,15 +351,6 @@ void ProcProto(const std::string& topic_name, int msg_count)
   // sleep 1000 ms
   std::this_thread::sleep_for(std::chrono::milliseconds(1000));
 
-  // get topic type
-  eCAL::SDataTypeInformation topic_info;
-  eCAL::Registration::GetTopicDataTypeInformation(topic_name, topic_info);
-  if(topic_info.name.empty())
-  {
-    std::cout << "could not get type name for topic " << topic_name << std::endl;
-    return;
-  }
-
   // create dynamic subscribers for receiving and decoding messages and assign callback
   eCAL::protobuf::CDynamicSubscriber sub(topic_name);
   std::atomic<int> cnt(msg_count);

diff --git a/app/mon/mon_plugins/capnproto_reflection/src/plugin_widget.cpp b/app/mon/mon_plugins/capnproto_reflection/src/plugin_widget.cpp
@@ -1,6 +1,6 @@
 /* ========================= eCAL LICENSE =================================
  *
- * Copyright (C) 2016 - 2019 Continental Corporation
+ * Copyright (C) 2016 - 2024 Continental Corporation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -59,7 +59,7 @@ PluginWidget::PluginWidget(const QString& topic_name, const QString& topic_type,
 
   // Add eCAL Callbacks
   subscriber_.AddReceiveCallback(std::bind(&PluginWidget::onProtoMessageCallback, this, std::placeholders::_2, std::placeholders::_3));
-  //subscriber_.AddErrorCallback(std::bind(&PluginWidget::onProtoErrorCallback, this, std::placeholders::_1));
+  subscriber_.AddErrorCallback(std::bind(&PluginWidget::onProtoErrorCallback, this, std::placeholders::_1));
 
   // Button connections
   connect(ui_.expand_button, &QPushButton::clicked, [this]() { tree_view_->expandAll();   });
@@ -323,13 +323,13 @@ void PluginWidget::onResume()
 {
   // Add eCAL Callbacks
   subscriber_.AddReceiveCallback(std::bind(&PluginWidget::onProtoMessageCallback, this, std::placeholders::_2, std::placeholders::_3));
-  //subscriber_.AddErrorCallback(std::bind(&PluginWidget::onProtoErrorCallback, this, std::placeholders::_1));
+  subscriber_.AddErrorCallback(std::bind(&PluginWidget::onProtoErrorCallback, this, std::placeholders::_1));
 }
 
 void PluginWidget::onPause()
 {
   subscriber_.RemReceiveCallback();
-  //subscriber_.RemErrorCallback();
+  subscriber_.RemErrorCallback();
 }
 
 QWidget* PluginWidget::getWidget()

diff --git a/app/mon/mon_plugins/raw_data_reflection/src/plugin_widget.cpp b/app/mon/mon_plugins/raw_data_reflection/src/plugin_widget.cpp
@@ -1,6 +1,6 @@
 /* ========================= eCAL LICENSE =================================
  *
- * Copyright (C) 2016 - 2019 Continental Corporation
+ * Copyright (C) 2016 - 2024 Continental Corporation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -59,20 +59,25 @@ PluginWidget::PluginWidget(const QString& topic_name, const QString&, QWidget* p
   ui_.content_layout->addWidget(frame);
 
   // Connect the eCAL Subscriber
-  subscriber_.AddReceiveCallback(std::bind(&PluginWidget::ecalMessageReceivedCallback, this, std::placeholders::_2));
+  subscriber_.AddReceiveCallback([this](const eCAL::Registration::STopicId& /*topic_id*/,
+    const eCAL::SDataTypeInformation& /*data_type_info*/,
+    const eCAL::SReceiveCallbackData& callback_data)
+    {
+      ecalMessageReceivedCallback(callback_data);
+    });
 }
 
 PluginWidget::~PluginWidget()
 {
   subscriber_.RemReceiveCallback();
 }
 
-void PluginWidget::ecalMessageReceivedCallback(const struct eCAL::SReceiveCallbackData* callback_data)
+void PluginWidget::ecalMessageReceivedCallback(const eCAL::SReceiveCallbackData& callback_data)
 {
   std::lock_guard<std::mutex> message_lock(message_mutex_);
-  last_message_ = QByteArray(static_cast<char*>(callback_data->buf), callback_data->size);
+  last_message_ = QByteArray(static_cast<char*>(callback_data.buf), callback_data.size);
 
-  last_message_publish_timestamp_ = eCAL::Time::ecal_clock::time_point(std::chrono::microseconds(callback_data->time));
+  last_message_publish_timestamp_ = eCAL::Time::ecal_clock::time_point(std::chrono::microseconds(callback_data.time));
 
   received_message_counter_++;
   new_msg_available_ = true;
@@ -128,7 +133,13 @@ void PluginWidget::onUpdate()
 
 void PluginWidget::onResume()
 {
-  subscriber_.AddReceiveCallback(std::bind(&PluginWidget::ecalMessageReceivedCallback, this, std::placeholders::_2));
+  // (Re)Connect the eCAL Subscriber
+  subscriber_.AddReceiveCallback([this](const eCAL::Registration::STopicId& /*topic_id*/,
+    const eCAL::SDataTypeInformation& /*data_type_info*/,
+    const eCAL::SReceiveCallbackData& callback_data)
+    {
+      ecalMessageReceivedCallback(callback_data);
+    });
 }
 
 void PluginWidget::onPause()

diff --git a/app/mon/mon_plugins/raw_data_reflection/src/plugin_widget.h b/app/mon/mon_plugins/raw_data_reflection/src/plugin_widget.h
@@ -1,6 +1,6 @@
 /* ========================= eCAL LICENSE =================================
  *
- * Copyright (C) 2016 - 2019 Continental Corporation
+ * Copyright (C) 2016 - 2024 Continental Corporation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -63,7 +63,7 @@ private slots:
   bool                               new_msg_available_;
   int                                received_message_counter_;
 
-  void ecalMessageReceivedCallback(const struct eCAL::SReceiveCallbackData* callback_data);
+  void ecalMessageReceivedCallback(const eCAL::SReceiveCallbackData& callback_data);
 
 #if QT_VERSION < QT_VERSION_CHECK(5, 9, 0)
   static QString bytesToHex(const QByteArray& byte_array, char separator = '\0');

diff --git a/app/mon/mon_plugins/string_reflection/src/plugin_widget.h b/app/mon/mon_plugins/string_reflection/src/plugin_widget.h
@@ -1,6 +1,6 @@
 /* ========================= eCAL LICENSE =================================
  *
- * Copyright (C) 2016 - 2019 Continental Corporation
+ * Copyright (C) 2016 - 2024 Continental Corporation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -56,12 +56,12 @@ private slots:
   QTextEdit* text_edit_;
 
   eCAL::string::CSubscriber<std::string>  subscriber_;
-  std::string                           last_message_;
-  eCAL::Time::ecal_clock::time_point    last_message_publish_timestamp_;
-  std::mutex                            message_mutex_;
+  std::string                             last_message_;
+  eCAL::Time::ecal_clock::time_point      last_message_publish_timestamp_;
+  std::mutex                              message_mutex_;
 
-  bool                                  new_msg_available_;
-  int                                   received_message_counter_;
+  bool                                    new_msg_available_;
+  int                                     received_message_counter_;
 
   void ecalMessageReceivedCallback(const std::string& message, long long publish_timestamp_usecs);
 };
diff --git a/app/rec/rec_server_core/src/rec_server_impl.cpp b/app/rec/rec_server_core/src/rec_server_impl.cpp
@@ -1,6 +1,6 @@
 /* ========================= eCAL LICENSE =================================
  *
- * Copyright (C) 2016 - 2019 Continental Corporation
+ * Copyright (C) 2016 - 2024 Continental Corporation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

diff --git a/app/util/stop/src/ecal_stop.cpp b/app/util/stop/src/ecal_stop.cpp
@@ -1,6 +1,6 @@
 /* ========================= eCAL LICENSE =================================
  *
- * Copyright (C) 2016 - 2019 Continental Corporation
+ * Copyright (C) 2016 - 2024 Continental Corporation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -46,19 +46,37 @@ int main()
   }
   eCAL::Process::SleepMS(500);
 
-  // shut down local user processes
-  std::cout << "--------------------------------------" << std::endl;
-  std::cout << "Shutdown local eCAL user processes." << std::endl;
-  std::cout << "--------------------------------------" << std::endl;
-  eCAL::Util::ShutdownProcesses();
-  std::cout << std::endl;
+  eCAL::Monitoring::SMonitoring monitoring;
+  eCAL::Monitoring::GetMonitoring(monitoring, eCAL::Monitoring::Entity::Process);
+  const std::string host_name(eCAL::Process::GetHostName());
 
-  // shut down local eCAL core
-  std::cout << "--------------------------------------" << std::endl;
-  std::cout << "Shutdown local eCAL core components." << std::endl;
-  std::cout << "--------------------------------------" << std::endl;
-  eCAL::Util::ShutdownCore();
-  std::cout << std::endl;
+  for (const auto& process : monitoring.processes)
+  {
+    // filter out eCAL system processes
+    const std::string uname = process.uname;
+    if ( (uname != "eCALConfig")
+      && (uname != "eCALMon")
+      && (uname != "eCALMon CLI")
+      && (uname != "eCALMon TUI")
+      && (uname != "eCALPlay")
+      && (uname != "eCALPlayGUI")
+      && (uname != "eCALRec")
+      && (uname != "eCALRecGUI")
+      && (uname != "eCALRecClient")
+      && (uname != "eCALRec-Remote")
+      && (uname != "eCALRec-Server")
+      && (uname != "eCALSys")
+      && (uname != "eCALSysGUI")
+      && (uname != "eCALSysClient")
+      && (uname != "eCALSys-Remote")
+      && (uname != "eCALStop")
+      && (process.hname == host_name)
+      )
+    {
+      std::cout << "Stopping process " << process.pname << " (" << process.pid << ")" << std::endl;
+      eCAL::Util::ShutdownProcess(process.pid);
+    }
+  }
 
   // finalize eCAL API
   eCAL::Finalize();

diff --git a/contrib/measurement/hdf5/include/ecal/measurement/hdf5/writer.h b/contrib/measurement/hdf5/include/ecal/measurement/hdf5/writer.h
@@ -39,7 +39,7 @@ namespace eCAL
     {
       namespace hdf5
       {
-        class WriterImpl;
+        struct WriterImpl;
 
         /**
          * @brief Hdf5 based Writer implementation

diff --git a/doc/rst/configuration/runtime_configuration.rst b/doc/rst/configuration/runtime_configuration.rst
@@ -12,7 +12,7 @@ The corresponding structure reflects the configuration file (:ref:`configuration
 Custom types
 ============
 
-In order to rule out configuration errors, custom datatypes for IP addresses (IpAddressV4) and sizes (ConstrainedInteger) are introduced.
+In order to rule out configuration errors, a custom datatype for IP addresses (IpAddressV4) is introduced.
 
 **IpAddressV4:** For assigning an IP address simply assign a string with the desired address. 
 Decimal and hexadecimal format is supported. 
@@ -25,17 +25,6 @@ The IP address can be used like a normal string object. For example:
   eCAL::Types::IpAddressV4 ip_address = "192.168.7.1"; // in hex: "C0.A8.7.1"
   std::cout << ip_address << "\n"; 
 
-**ConstrainedInteger**: ConstrainedInteger are specified with a minimum (default: 0), step (default: 1) and maximum (default: maximum of int) value.
-In case the assigned value does not fit into the specified limitation, the type will throw a std::invalid_argument exception.
-
-The size object can be used like a normal integer.
-
-.. code-block:: c++
-
-  eCAL::Types::ConstrainedInteger<1024, 512, 8192> size_4mb = 1024 + 6 * 512;
-  std::cout << size_4mb << "\n";
-
-For specifying sizes in the ecal configuration object, refer to the .yaml file or "ecal/config/configuration.h" for the limitations.
 
 Global configuration initialization
 ===================================

diff --git a/ecal/core/CMakeLists.txt b/ecal/core/CMakeLists.txt
@@ -479,7 +479,6 @@ set(ecal_c_src
     src/cimpl/ecal_monitoring_cimpl.cpp
     src/cimpl/ecal_process_cimpl.cpp
     src/cimpl/ecal_publisher_cimpl.cpp
-    src/cimpl/ecal_registration_cimpl.cpp
     src/cimpl/ecal_server_cimpl.cpp
     src/cimpl/ecal_subscriber_cimpl.cpp
     src/cimpl/ecal_time_cimpl.cpp
@@ -501,11 +500,19 @@ endif()
 # public header
 ######################################
 set(ecal_header_cmn
-    include/ecal/types/logging.h
-    include/ecal/types/monitoring.h
+    include/ecal/config/application.h
     include/ecal/config/configuration.h
+    include/ecal/config/logging.h
+    include/ecal/config/monitoring.h
     include/ecal/config/publisher.h
+    include/ecal/config/registration.h
+    include/ecal/config/service.h
     include/ecal/config/subscriber.h
+    include/ecal/config/time.h
+    include/ecal/config/transport_layer.h
+    include/ecal/config/user_arguments.h
+    include/ecal/types/logging.h
+    include/ecal/types/monitoring.h
     include/ecal/ecal.h
     include/ecal/ecal_callback.h
     include/ecal/ecal_config.h
@@ -541,7 +548,6 @@ set(ecal_header_cimpl
     include/ecal/cimpl/ecal_monitoring_cimpl.h
     include/ecal/cimpl/ecal_process_cimpl.h
     include/ecal/cimpl/ecal_publisher_cimpl.h
-    include/ecal/cimpl/ecal_registration_cimpl.h
     include/ecal/cimpl/ecal_server_cimpl.h
     include/ecal/cimpl/ecal_service_info_cimpl.h
     include/ecal/cimpl/ecal_subscriber_cimpl.h
@@ -554,6 +560,7 @@ set(ecal_header_cimpl
 
 set(ecal_header_msg
     include/ecal/msg/protobuf/client.h
+    include/ecal/msg/protobuf/dynamic_json_subscriber.h
     include/ecal/msg/protobuf/dynamic_publisher.h
     include/ecal/msg/protobuf/dynamic_subscriber.h    
     include/ecal/msg/protobuf/publisher.h