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Merge branch 'master' into feature/new-datarw-connection-logic
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@rex-schilasky
rex-schilasky authored Sep 6, 2024
2 parents 24de9de + 8ae8323 commit d4e3bdf
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Showing 9 changed files with 42 additions and 76 deletions.
28 changes: 13 additions & 15 deletions doc/rst/configuration/options.rst
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Expand Up @@ -254,21 +254,6 @@ Transportlayer settings are listed in the section ``transport_layer``

Reconnection attemps the session will try to reconnect in case of an issue

.. option:: shm

.. option:: memfile_min_size_bytes

``x * 4096 kB`` default ``4096``

Default memory file size for new publisher


.. option:: memfile_reserve_percent

``20 .. x`` default ``50``

Dynamic file size reserve before recreating memory file if topic size changes


Publisher settings are listed in the section ``publisher``
----------------------------------------------------------
Expand Down Expand Up @@ -304,6 +289,19 @@ Publisher settings are listed in the section ``publisher``

Maximum number of used buffers (needs to be greater than 0, default = 1)

.. option:: memfile_min_size_bytes

``x * 4096 kB`` default ``4096``

Default memory file size for new publisher


.. option:: memfile_reserve_percent

``20 .. x`` default ``50``

Dynamic file size reserve before recreating memory file if topic size changes

.. option:: udp

.. option:: enable
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10 changes: 5 additions & 5 deletions doc/rst/configuration/runtime_configuration.rst
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Expand Up @@ -35,18 +35,18 @@ The size object can be used like a normal integer.
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.
For specifying sizes in the ecal configuration object, refer to the .yaml 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 ``InitConfigWithDefaultYaml()`` function of the config object.
If you want to use the systems eCAL .yaml file, call the ``InitFromConfig()`` 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.
In case the .yaml to use is specified via command line parameter, this one is chosen instead.
The object will throw an error, in case the specified .yaml file cannot be found.

It is also possible to specify the .ini by calling the function ``checkForValidConfigFilePath(const std::string yaml_path_)`` of the config object.
It is also possible to specify the .yaml by calling the function ``InitFromFile(const std::string yaml_path_)`` of the config object.

* |fa-file-alt| :file:`hello_config/main.cpp`:

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6 changes: 3 additions & 3 deletions doc/rst/configuration/src/hello_config/main.cpp
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Expand Up @@ -8,15 +8,15 @@ int main(int argc, char** argv)
// Create a configuration object with the command line arguments
eCAL::Configuration custom_config(argc, argv);

// Use the .yaml file of the system if available
custom_config.InitConfigWithDefaultYaml();
// Use the .yaml file of the system or current folder if available
custom_config.InitFromConfig();

// Set the values in a try/catch block, as wrong configuration leads to exceptions
try
{
// In case you decided to specify an own .yaml file to use
// Configuration based on previous ini file will be overwritten
custom_config.InitConfigFromFile("C:\\eCAL_local.yaml");
custom_config.InitFromFile("C:\\eCAL_local.yaml");

// Set the communication layer to network
custom_config.registration.network_enabled = true;
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12 changes: 7 additions & 5 deletions ecal/core/include/ecal/config/publisher.h
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Expand Up @@ -105,12 +105,14 @@ namespace eCAL
{
struct Configuration
{
bool enable { true }; //!< enable layer
bool enable { true }; //!< enable layer

bool zero_copy_mode { false }; //!< Enable zero copy shared memory transport mode
unsigned int acknowledge_timeout_ms { 0U }; /*!< Force connected subscribers to send acknowledge event after processing the message.
The publisher send call is blocked on this event with this timeout (0 == no handshake).*/
unsigned int memfile_buffer_count { 1U }; /*!< Maximum number of used buffers (needs to be greater than 1, default = 1) */
bool zero_copy_mode { false }; //!< Enable zero copy shared memory transport mode
unsigned int acknowledge_timeout_ms { 0U }; /*!< Force connected subscribers to send acknowledge event after processing the message.
The publisher send call is blocked on this event with this timeout (0 == no handshake).*/
unsigned int memfile_buffer_count { 1U }; /*!< Maximum number of used buffers (needs to be greater than 1, default = 1) */
Types::ConstrainedInteger<4096, 4096> memfile_min_size_bytes { 4096 }; //!< Default memory file size for new publisher (Default: 4096)
Types::ConstrainedInteger<50, 1, 100> memfile_reserve_percent { 50 }; //!< Dynamic file size reserve before recreating memory file if topic size changes (Default: 50)
};
}

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10 changes: 0 additions & 10 deletions ecal/core/include/ecal/config/transport_layer.h
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Expand Up @@ -88,20 +88,10 @@ namespace eCAL
};
}

namespace SHM
{
struct Configuration
{
Types::ConstrainedInteger<4096, 4096> memfile_min_size_bytes { 4096 }; //!< Default memory file size for new publisher (Default: 4096)
Types::ConstrainedInteger<50, 1, 100> memfile_reserve_percent { 50 }; //!< Dynamic file size reserve before recreating memory file if topic size changes (Default: 50)
};
}

struct Configuration
{
UDP::Configuration udp;
TCP::Configuration tcp;
SHM::Configuration shm;
};
}
}
30 changes: 8 additions & 22 deletions ecal/core/src/config/configuration_to_yaml.cpp
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Expand Up @@ -210,22 +210,6 @@ namespace YAML
/_/ /_/ \_,_/_//_/___/ .__/\___/_/ \__/____/\_,_/\_, /\__/_/
/_/ /___/
*/

Node convert<eCAL::TransportLayer::SHM::Configuration>::encode(const eCAL::TransportLayer::SHM::Configuration& config_)
{
Node node;
node["memfile_min_size_bytes"] << config_.memfile_min_size_bytes;
node["memfile_reserve_percent"] << config_.memfile_reserve_percent;
return node;
}

bool convert<eCAL::TransportLayer::SHM::Configuration>::decode(const Node& node_, eCAL::TransportLayer::SHM::Configuration& config_)
{
AssignValue<unsigned int>(config_.memfile_min_size_bytes, node_, "memfile_min_size_bytes");
AssignValue<unsigned int>(config_.memfile_reserve_percent, node_, "memfile_reserve_percent");
return true;
}

Node convert<eCAL::TransportLayer::TCP::Configuration>::encode(const eCAL::TransportLayer::TCP::Configuration& config_)
{
Node node;
Expand Down Expand Up @@ -296,7 +280,6 @@ namespace YAML
Node convert<eCAL::TransportLayer::Configuration>::encode(const eCAL::TransportLayer::Configuration& config_)
{
Node node;
node["shm"] = config_.shm;
node["udp"] = config_.udp;
node["tcp"] = config_.tcp;

Expand All @@ -305,7 +288,6 @@ namespace YAML

bool convert<eCAL::TransportLayer::Configuration>::decode(const Node& node_, eCAL::TransportLayer::Configuration& config_)
{
AssignValue<eCAL::TransportLayer::SHM::Configuration>(config_.shm, node_, "shm");
AssignValue<eCAL::TransportLayer::UDP::Configuration>(config_.udp, node_, "udp");
AssignValue<eCAL::TransportLayer::TCP::Configuration>(config_.tcp, node_, "tcp");
return true;
Expand All @@ -322,10 +304,12 @@ namespace YAML
Node convert<eCAL::Publisher::Layer::SHM::Configuration>::encode(const eCAL::Publisher::Layer::SHM::Configuration& config_)
{
Node node;
node["enable"] = config_.enable;
node["zero_copy_mode"] = config_.zero_copy_mode;
node["acknowledge_timeout_ms"] = config_.acknowledge_timeout_ms;
node["memfile_buffer_count"] = config_.memfile_buffer_count;
node["enable"] = config_.enable;
node["zero_copy_mode"] = config_.zero_copy_mode;
node["acknowledge_timeout_ms"] = config_.acknowledge_timeout_ms;
node["memfile_buffer_count"] = config_.memfile_buffer_count;
node["memfile_min_size_bytes"] << config_.memfile_min_size_bytes;
node["memfile_reserve_percent"] << config_.memfile_reserve_percent;
return node;
}

Expand All @@ -335,6 +319,8 @@ namespace YAML
AssignValue<bool>(config_.zero_copy_mode, node_, "zero_copy_mode");
AssignValue<unsigned int>(config_.acknowledge_timeout_ms, node_, "acknowledge_timeout_ms");
AssignValue<unsigned int>(config_.memfile_buffer_count, node_, "memfile_buffer_count");
AssignValue<unsigned int>(config_.memfile_min_size_bytes, node_, "memfile_min_size_bytes");
AssignValue<unsigned int>(config_.memfile_reserve_percent, node_, "memfile_reserve_percent");
return true;
}

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8 changes: 0 additions & 8 deletions ecal/core/src/config/configuration_to_yaml.h
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Expand Up @@ -101,14 +101,6 @@ namespace YAML
/_/ /_/ \_,_/_//_/___/ .__/\___/_/ \__/____/\_,_/\_, /\__/_/
/_/ /___/
*/
template<>
struct convert<eCAL::TransportLayer::SHM::Configuration>
{
static Node encode(const eCAL::TransportLayer::SHM::Configuration& config_);

static bool decode(const Node& node_, eCAL::TransportLayer::SHM::Configuration& config_);
};

template<>
struct convert<eCAL::TransportLayer::TCP::Configuration>
{
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10 changes: 4 additions & 6 deletions ecal/core/src/config/default_configuration.cpp
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Expand Up @@ -214,12 +214,6 @@ namespace eCAL
ss << R"( # Reconnection attemps the session will try to reconnect in case of an issue)" << "\n";
ss << R"( max_reconnections: )" << config_.transport_layer.tcp.max_reconnections << "\n";
ss << R"()" << "\n";
ss << R"( shm:)" << "\n";
ss << R"( # Default memory file size for new publisher)" << "\n";
ss << R"( memfile_min_size_bytes: )" << config_.transport_layer.shm.memfile_min_size_bytes << "\n";
ss << R"( # Dynamic file size reserve before recreating memory file if topic size changes)" << "\n";
ss << R"( memfile_reserve_percent: )" << config_.transport_layer.shm.memfile_reserve_percent << "\n";
ss << R"()" << "\n";
ss << R"()" << "\n";
ss << R"(# Publisher specific base settings)" << "\n";
ss << R"(publisher:)" << "\n";
Expand All @@ -235,6 +229,10 @@ namespace eCAL
ss << R"( acknowledge_timeout_ms: )" << config_.publisher.layer.shm.acknowledge_timeout_ms << "\n";
ss << R"( # Maximum number of used buffers (needs to be greater than 1, default = 1))" << "\n";
ss << R"( memfile_buffer_count: )" << config_.publisher.layer.shm.memfile_buffer_count << "\n";
ss << R"( # Default memory file size for new publisher)" << "\n";
ss << R"( memfile_min_size_bytes: )" << config_.publisher.layer.shm.memfile_min_size_bytes << "\n";
ss << R"( # Dynamic file size reserve before recreating memory file if topic size changes)" << "\n";
ss << R"( memfile_reserve_percent: )" << config_.publisher.layer.shm.memfile_reserve_percent << "\n";
ss << R"()" << "\n";
ss << R"( # Base configuration for UDP publisher)" << "\n";
ss << R"( udp:)" << "\n";
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4 changes: 2 additions & 2 deletions ecal/core/src/readwrite/shm/ecal_writer_shm.cpp
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Expand Up @@ -125,8 +125,8 @@ namespace eCAL

// prepare memfile attributes
SSyncMemoryFileAttr memory_file_attr = {};
memory_file_attr.min_size = GetConfiguration().transport_layer.shm.memfile_min_size_bytes;
memory_file_attr.reserve = GetConfiguration().transport_layer.shm.memfile_reserve_percent;
memory_file_attr.min_size = m_config.memfile_min_size_bytes;
memory_file_attr.reserve = m_config.memfile_reserve_percent;
memory_file_attr.timeout_open_ms = PUB_MEMFILE_OPEN_TO;
memory_file_attr.timeout_ack_ms = m_config.acknowledge_timeout_ms;

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