[core] Implementation of new configuration management (#1505)

doc/rst/configuration.rst

@@ -14,3 +14,4 @@ Configuration
    configuration/npcap
    configuration/player
    configuration/options
+   configuration/runtime_configuration

doc/rst/configuration/runtime_configuration.rst

@@ -0,0 +1,68 @@
+.. include:: /include.txt
+
+.. _configuration_runtime_configuration:
+
+=====================
+Runtime configuration
+=====================
+
+eCAL provides an interface to access and modify its options before initialization. 
+The corresponding structure reflects the configuration file (:ref:`configuration_options`). 
+
+Custom types
+============
+
+In order to rule out configuration errors, custom datatypes for IP addresses (IpAddressV4) and sizes (constrained integer) are introduced.
+
+**IpAddressV4:** For assigning an IP address simply assign a string with the desired address. 
+Decimal and hexadecimal format is supported. 
+In case the IP address is not valid, the type will throw a std::invalid_argument exception.
+
+The IP address can be used like a normal string object. For example:
+
+.. code-block:: c++
+
+  eCAL::Types::IpAddressV4 ip_address = std::string("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 .ini file or "ecal/config/configuration.h" for the limitations.
+
+Global configuration initialization
+===================================
+
+The configuration will be first initialized with the default values specified by eCAL.
+If you want to use the systems eCAL .ini file, call the ``InitConfigWithDefaultIni()`` function of the config object.
+
+In case the .ini to use is specified via command line parameter, this one is chosen instead. 
+The object will throw an error, in case the specified .ini file cannot be found.
+
+It is also possible to specify the .ini by calling the function ``InitConfig(std::string _ini_path)`` of the config object.
+
+* |fa-file-alt| :file:`hello_config/main.cpp`:
+
+  .. literalinclude:: src/hello_config/main.cpp
+     :language: cpp
+     :linenos:
+
+Individual publisher/subscriber configuration
+=============================================
+
+Like a global configuration to pass at initialization, it is also possible to create indiviual configurations for publisher and subscriber.
+That means it is possible to, e.g., create two publisher which send on different transport layers:
+
+* |fa-file-alt| :file:`publisher/main.cpp`:
+
+  .. literalinclude:: src/publisher_config/main.cpp
+     :language: cpp
+     :linenos:
+

doc/rst/configuration/src/hello_config/CMakeLists.txt

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.0)
+set(CMAKE_FIND_PACKAGE_PREFER_CONFIG ON)
+
+project(hello_config)
+
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+find_package(eCAL REQUIRED)
+
+set(source_files
+  main.cpp
+)
+
+add_executable(${PROJECT_NAME} ${source_files})
+
+target_link_libraries(${PROJECT_NAME}
+  eCAL::core
+)

doc/rst/configuration/src/hello_config/main.cpp

@@ -0,0 +1,46 @@
+#include <ecal/ecal.h>
+#include <ecal/ecal_config.h>
+#include <string>
+#include <stdexcept>
+
+int main(int argc, char** argv)
+{
+  // Create a configuration object with the command line arguments
+  eCAL::Configuration custom_config(argc, argv);
+
+  // Use the .ini file of the system if available
+  custom_config.InitConfigWithDefaultIni();
+
+  // Set the values in a try/catch block, as wrong configuration leads to exceptions
+  try
+  {
+      // In case you decided to specify an own .ini file to use
+      // Configuration based on previous ini file will be overwritten
+    custom_config.InitConfig("C:\\eCAL_local.ini");
+
+    // Set the communication layer to network
+    custom_config.transport_layer.network_enabled = true;
+
+    // Set a custom udp multicast group, correct IP address necessary
+    custom_config.transport_layer.mc_options.group = std::string("239.0.1.1");
+
+    // Increase the send buffer, size increase in 1024 bytes steps
+    custom_config.transport_layer.mc_options.sndbuf = (5242880 + 10 * 1024);
+  }
+  catch (std::invalid_argument& e)
+  {
+    throw std::runtime_error("Error while configuring eCALConfig: " + std::string(e.what()));
+  }
+
+  // Initialize eCAL with the prepared configuration object
+  eCAL::Initialize(custom_config, "UserConfigExample", eCAL::Init::Default);
+
+  // ...
+  // Use eCAL for your needs
+  // ...
+
+  // Finalize eCAL API
+  eCAL::Finalize();
+
+  return 0;
+}

doc/rst/configuration/src/publisher_config/CMakeLists.txt

@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 3.0)
+set(CMAKE_FIND_PACKAGE_PREFER_CONFIG ON)
+
+project(publisher_config)
+
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+find_package(eCAL REQUIRED)
+
+set(source_files
+  main.cpp
+)
+
+add_executable(${PROJECT_NAME} ${source_files})
+
+target_link_libraries(${PROJECT_NAME}
+  eCAL::core
+)

doc/rst/configuration/src/publisher_config/main.cpp

@@ -0,0 +1,44 @@
+#include <ecal/ecal.h>
+#include <ecal/msg/string/publisher.h>
+#include <string>
+#include <stdexcept>
+#include <thread>
+#include <chrono>
+
+int main(int argc, char** argv)
+{
+  // initialize eCAL API
+  eCAL::Initialize(0, nullptr, "PublisherConfig", eCAL::Init::All);
+
+  // create publisher config
+  eCAL::Publisher::Configuration pub_config;
+
+  // disable all layers except for SHM
+  pub_config.shm.enable = true;
+  pub_config.udp.enable = false;
+  pub_config.tcp.enable = false;
+
+  // create publisher 1
+  eCAL::string::CPublisher<std::string> pub_1("topic_1", pub_config);
+
+  // enable for the second publisher also tcp
+  pub_config.tcp.enable = true;
+
+  // create publisher 2
+  eCAL::string::CPublisher<std::string> pub_2("topic_2", pub_config);
+
+  int counter {0};
+  while (eCAL::Ok())
+  {
+    std::string msg = "Send message number: " + std::to_string(counter++);
+
+    // send message
+    pub_1.Send(msg);
+    pub_2.Send(msg);
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(500));
+  }
+
+  // finalize eCAL API
+  eCAL::Finalize();
+}

ecal/core/CMakeLists.txt

@@ -63,10 +63,14 @@ endif()
 # config
 ######################################
 set(ecal_config_src
+    src/config/ecal_cmd_parser.cpp
     src/config/ecal_config.cpp
+    src/config/ecal_config_initializer.cpp
     src/config/ecal_config_reader.cpp
     src/config/ecal_config_reader.h
     src/config/ecal_config_reader_hlp.h
+    src/types/ecal_custom_data_types.cpp
+    src/types/ecal_registration_options.cpp
 )
 
 ######################################
@@ -450,10 +454,11 @@ endif()
 set(ecal_header_cmn
     include/ecal/types/logging.h
     include/ecal/types/monitoring.h
+    include/ecal/config/publisher.h
+    include/ecal/config/subscriber.h
     include/ecal/ecal.h
     include/ecal/ecal_callback.h
     include/ecal/ecal_client.h
-    include/ecal/ecal_config.h
     include/ecal/ecal_core.h
     include/ecal/ecal_deprecate.h
     include/ecal/ecal_init.h
@@ -465,16 +470,15 @@ set(ecal_header_cmn
     include/ecal/ecal_process.h
     include/ecal/ecal_process_severity.h
     include/ecal/ecal_publisher.h
-    include/ecal/ecal_publisher_config.h
     include/ecal/ecal_server.h
     include/ecal/ecal_service_info.h
     include/ecal/ecal_subscriber.h
-    include/ecal/ecal_subscriber_config.h
     include/ecal/ecal_time.h
     include/ecal/ecal_timer.h
     include/ecal/ecal_tlayer.h
     include/ecal/ecal_types.h
     include/ecal/ecal_util.h
+    include/ecal/config/configuration.h
 )
 
 set(ecal_header_cimpl

ecal/core/cfg/ecal.ini

@@ -178,13 +178,13 @@ filter_excl                        = ^eCALSysClient$|^eCALSysGUI$|^eCALSys$
 ; shm_monitoring_enabled           = false                         Enable distribution of monitoring/registration information via shared memory
 ; shm_monitoring_domain            = ecal_monitoring               Domain name for shared memory based monitoring/registration
 ; shm_monitoring_queue_size        = 1024                          Queue size of monitoring/registration events
-; network_monitoring_disabled      = false                         Disable distribution of monitoring/registration information via network
+; network_monitoring_enabled       = true                          Enable distribution of monitoring/registration information via network
 ;
 ; drop_out_of_order_messages       = false                         Enable dropping of payload messages that arrive out of order
 ; --------------------------------------------------
 [experimental]
 shm_monitoring_enabled             = false
 shm_monitoring_domain              = ecal_mon
 shm_monitoring_queue_size          = 1024
-network_monitoring_disabled        = false
+network_monitoring_enabled         = true
 drop_out_of_order_messages         = false

ecal/core/include/ecal/config/application.h

@@ -0,0 +1,57 @@
+/* =========================== LICENSE =================================
+ *
+ * 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.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * =========================== LICENSE =================================
+ */
+
+/**
+ * @file   ecal_application_config.h
+ * @brief  eCAL configuration for applications
+**/
+
+#pragma once
+
+#include <string>
+#include <ecal/ecal_os.h>
+#include <cstddef>
+
+namespace eCAL
+{
+  namespace Application
+  {
+    namespace Sys
+    {
+      struct Configuration
+      {
+        std::string filter_excl;          //!<
+      };
+    }
+
+    namespace Startup
+    {
+      struct Configuration
+      {
+        std::string terminal_emulator;    //!<
+      };
+    }
+
+    struct Configuration
+    {
+      Sys::Configuration     sys;         //!<
+      Startup::Configuration startup;     //!<
+    };
+  }
+}