Merge remote-tracking branch 'origin/master' into feature/user_config…

…_implementation

app/mon/mon_cli/CMakeLists.txt

@@ -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.
@@ -45,7 +45,7 @@ target_link_libraries(${PROJECT_NAME}
   tclap::tclap
   eCAL::core_protobuf
   eCAL::core_pb)
-target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_14) 
+target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_17) 
 
 ecal_install_app(${PROJECT_NAME})
 

app/mon/mon_cli/src/ecal_mon_cli.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.
@@ -363,7 +363,7 @@ void ProcProto(const std::string& topic_name, int msg_count)
   // create dynamic subscribers for receiving and decoding messages and assign callback
   eCAL::protobuf::CDynamicSubscriber sub(topic_name);
   std::atomic<int> cnt(msg_count);
-  auto msg_cb = [&cnt](const google::protobuf::Message& msg_) { if (cnt != 0) { std::cout << msg_.DebugString() << std::endl; if (cnt > 0) cnt--; } };
+  auto msg_cb = [&cnt](const std::shared_ptr<google::protobuf::Message>& msg_) { if (cnt != 0) { std::cout << msg_->DebugString() << std::endl; if (cnt > 0) cnt--; } };
   sub.AddReceiveCallback(std::bind(msg_cb, std::placeholders::_2));
 
   // enter main loop

app/mon/mon_plugins/capnproto_reflection/CMakeLists.txt

@@ -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.
@@ -67,6 +67,8 @@ target_link_libraries (${PROJECT_NAME}
   eCAL::mon_plugin_lib
   MonitorTreeView
 )
+target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_17)
+
 target_link_options(${PROJECT_NAME} PRIVATE $<$<CXX_COMPILER_ID:MSVC>:/ignore:4099>)
 
 target_include_directories(${PROJECT_NAME} PRIVATE src)

app/mon/mon_plugins/protobuf_reflection/CMakeLists.txt

@@ -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.
@@ -69,7 +69,7 @@ target_link_libraries (${PROJECT_NAME}
   MonitorTreeView
   eCAL::mon_plugin_lib
 )
-target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_14)
+target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_17)
 
 if(MSVC)
   set_target_properties(${PROJECT_NAME} PROPERTIES COMPILE_FLAGS "/wd4127 /wd4714")

app/mon/mon_plugins/protobuf_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.
@@ -110,7 +110,7 @@ PluginWidget::~PluginWidget()
 
   {
     std::lock_guard<std::mutex> lock(proto_message_mutex_);
-    delete last_proto_message_;
+    last_proto_message_.reset();
   }
 }
 
@@ -157,19 +157,15 @@ void PluginWidget::updatePublishTimeLabel()
 ////////////////////////////////////////////////////////////////////////////////
 
 // eCAL Callback
-void PluginWidget::onProtoMessageCallback(const google::protobuf::Message& message, long long send_time_usecs)
+void PluginWidget::onProtoMessageCallback(const std::shared_ptr<google::protobuf::Message>& message, long long send_time_usecs)
 {
 
   {
     // Lock the mutex
     std::lock_guard<std::mutex> lock(proto_message_mutex_);
 
-    // Delete the old message
-    delete last_proto_message_;
-
     // Create a copy of the new message as member variable. We cannot use a reference here, as this may cause a deadlock with the GUI thread
-    last_proto_message_ = message.New();
-    last_proto_message_->CopyFrom(message);
+    last_proto_message_ = message;
 
     last_message_publish_timestamp_ = eCAL::Time::ecal_clock::time_point(std::chrono::duration_cast<eCAL::Time::ecal_clock::duration>(std::chrono::microseconds(send_time_usecs)));
 

app/mon/mon_plugins/protobuf_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.
@@ -68,11 +68,11 @@ private slots:
   eCAL::protobuf::CProtoDecoder protobuf_decoder;
   std::shared_ptr<ProtobufTreeBuilder> protobuf_tree_builder;
 
-  std::mutex                         proto_message_mutex_;
-  google::protobuf::Message*         last_proto_message_;
-  eCAL::Time::ecal_clock::time_point last_message_publish_timestamp_;
-  QString                            last_error_string_;
-  bool                               last_message_was_error_;
+  std::mutex                                 proto_message_mutex_;
+  std::shared_ptr<google::protobuf::Message> last_proto_message_;
+  eCAL::Time::ecal_clock::time_point         last_message_publish_timestamp_;
+  QString                                    last_error_string_;
+  bool                                       last_message_was_error_;
 
   bool                               currently_showing_error_item_;
   int                                error_counter_;
@@ -83,7 +83,7 @@ private slots:
   bool                               new_msg_available_;
   int                                received_message_counter_;
 
-  void onProtoMessageCallback(const google::protobuf::Message& message, long long send_time_usecs);
+  void onProtoMessageCallback(const std::shared_ptr<google::protobuf::Message>& message, long long send_time_usecs);
   void onProtoErrorCallback(const std::string& error);
   void updatePublishTimeLabel();
 

app/mon/mon_plugins/signals_plotting/CMakeLists.txt

@@ -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.
@@ -84,7 +84,7 @@ target_link_libraries (${PROJECT_NAME}
   CustomQt
 )
 
-target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_14) 
+target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_17) 
 
 if(MSVC)
   set_target_properties(${PROJECT_NAME} PROPERTIES COMPILE_FLAGS "/wd4127 /wd4714" )

app/mon/mon_plugins/signals_plotting/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.
@@ -132,7 +132,7 @@ PluginWidget::~PluginWidget()
 
   {
     std::lock_guard<std::mutex> lock(proto_message_mutex_);
-    delete last_proto_message_;
+    last_proto_message_.reset();
   }
 }
 
@@ -256,19 +256,15 @@ void PluginWidget::setVisibleSplitterHandle(bool state)
 ////////////////////////////////////////////////////////////////////////////////
 
 // eCAL Callback
-void PluginWidget::onProtoMessageCallback(const google::protobuf::Message& message, long long send_time_usecs)
+void PluginWidget::onProtoMessageCallback(const std::shared_ptr<google::protobuf::Message>& message, long long send_time_usecs)
 {
 
   {
     // Lock the mutex
     std::lock_guard<std::mutex> lock(proto_message_mutex_);
 
-    // Delete the old message
-    delete last_proto_message_;
-
     // Create a copy of the new message as member variable. We cannot use a reference here, as this may cause a deadlock with the GUI thread
-    last_proto_message_ = message.New();
-    last_proto_message_->CopyFrom(message);
+    last_proto_message_ = message;
 
     last_message_publish_timestamp_ = eCAL::Time::ecal_clock::time_point(std::chrono::duration_cast<eCAL::Time::ecal_clock::duration>(std::chrono::microseconds(send_time_usecs)));
 

app/mon/mon_plugins/signals_plotting/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.
@@ -102,9 +102,9 @@ private slots:
   eCAL::protobuf::CProtoDecoder protobuf_decoder;
   std::shared_ptr<ProtobufTreeBuilder> protobuf_tree_builder;
 
-  std::mutex                         proto_message_mutex_;
-  google::protobuf::Message*         last_proto_message_;
-  eCAL::Time::ecal_clock::time_point last_message_publish_timestamp_;
+  std::mutex                                 proto_message_mutex_;
+  std::shared_ptr<google::protobuf::Message> last_proto_message_;
+  eCAL::Time::ecal_clock::time_point         last_message_publish_timestamp_;
   QString                            last_error_string_;
   bool                               last_message_was_error_;
   int                                error_counter_;
@@ -119,7 +119,7 @@ private slots:
 
   QString                            key_to_close_;
 
-  void   onProtoMessageCallback(const google::protobuf::Message& message, long long send_time_usecs);
+  void   onProtoMessageCallback(const std::shared_ptr<google::protobuf::Message>& message, long long send_time_usecs);
   void   onProtoErrorCallback(const std::string& error);
   void   updatePublishTimeLabel();
   bool   find_items(QAbstractTreeItem* tree_item);

app/mon/mon_tui/src/tui/view/message_visualization/proto_tree.hpp

@@ -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.
@@ -261,7 +261,7 @@ class TreeMessageVisitor : public MessageVisitor
 
 }
 
-void PopulateProtoTree(ftxui::TreeNode &root, google::protobuf::Message *message, const std::shared_ptr<StyleSheet> style)
+void PopulateProtoTree(ftxui::TreeNode &root, const std::shared_ptr<google::protobuf::Message>& message, const std::shared_ptr<StyleSheet> style)
 {
   auto tree_builder = std::make_shared<eCAL::protobuf::TreeMessageVisitor>(root, style);
   if(message)
@@ -272,7 +272,7 @@ void PopulateProtoTree(ftxui::TreeNode &root, google::protobuf::Message *message
   }
 }
 
-ftxui::TreeNodePtr ProtoTree(google::protobuf::Message *message, const std::shared_ptr<StyleSheet> style)
+ftxui::TreeNodePtr ProtoTree(const std::shared_ptr<google::protobuf::Message>& message, const std::shared_ptr<StyleSheet> style)
 {
   using namespace ftxui;
   auto root = std::make_shared<TreeNode>();

app/mon/mon_tui/src/tui/viewmodel/message_visualization/proto.hpp

@@ -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.
@@ -20,6 +20,7 @@
 
 #include <string>
 #include <functional>
+#include <memory>
 #include <mutex>
 
 #include <ecal/ecal.h>
@@ -35,15 +36,13 @@ class ProtoMessageVisualizationViewModel : public MessageVisualizationViewModel
   eCAL::protobuf::CDynamicSubscriber subscriber;
 
   mutable std::mutex message_mtx;
-  google::protobuf::Message *latest_message = nullptr;
+  std::shared_ptr<google::protobuf::Message> latest_message = nullptr;
 
-  void OnMessage(const google::protobuf::Message& message, long long send_time_usecs)
+  void OnMessage(const std::shared_ptr<google::protobuf::Message>& message, long long send_time_usecs)
   {
     {
       std::lock_guard<std::mutex> lock(message_mtx);
-      delete latest_message;
-      latest_message = message.New();
-      latest_message->CopyFrom(message);
+      latest_message = message;
 
       message_timestamp = send_time_usecs;
     }
@@ -56,7 +55,7 @@ class ProtoMessageVisualizationViewModel : public MessageVisualizationViewModel
   //NOTE: Use with caution!
   struct ProtectedMessage
   {
-    google::protobuf::Message *message;
+    std::shared_ptr<google::protobuf::Message> message;
     std::unique_lock<std::mutex> lock;
   };
 

ecal/core/CMakeLists.txt

@@ -199,6 +199,7 @@ endif()
 if(ECAL_CORE_PUBLISHER)
   set(ecal_pub_src
       src/pubsub/ecal_publisher.cpp
+      src/pubsub/ecal_publisher_config.cpp
       src/pubsub/ecal_pubgate.cpp
       src/pubsub/ecal_pubgate.h
   )
@@ -226,8 +227,8 @@ if(ECAL_CORE_PUBLISHER)
   )
   if(ECAL_CORE_TRANSPORT_UDP)
     list(APPEND ecal_writer_src
-        src/readwrite/udp/ecal_writer_udp_mc.cpp
-        src/readwrite/udp/ecal_writer_udp_mc.h
+        src/readwrite/udp/ecal_writer_udp.cpp
+        src/readwrite/udp/ecal_writer_udp.h
     )
   endif()
   if(ECAL_CORE_TRANSPORT_TCP)
@@ -253,8 +254,8 @@ if(ECAL_CORE_SUBSCRIBER)
   )
   if(ECAL_CORE_TRANSPORT_UDP)
     list(APPEND ecal_reader_src
-        src/readwrite/udp/ecal_reader_udp_mc.cpp
-        src/readwrite/udp/ecal_reader_udp_mc.h
+        src/readwrite/udp/ecal_reader_udp.cpp
+        src/readwrite/udp/ecal_reader_udp.h
     )
   endif()
   if(ECAL_CORE_TRANSPORT_TCP)
@@ -466,6 +467,7 @@ 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

ecal/core/include/ecal/cimpl/ecal_core_cimpl.h

@@ -83,11 +83,9 @@ extern "C"
   /**
    * @brief Finalize eCAL API.
    *
-   * @param components_  Defines which component to initialize (not yet supported).
-   *
    * @return Zero if succeeded, 1 if already finalized, -1 if failed.
   **/
-  ECALC_API int eCAL_Finalize(unsigned int components_);
+  ECALC_API int eCAL_Finalize();
 
   /**
    * @brief Check eCAL initialize state.

ecal/core/include/ecal/cimpl/ecal_publisher_cimpl.h

@@ -89,26 +89,6 @@ extern "C"
   **/
   ECALC_API int eCAL_Pub_ClearAttribute(ECAL_HANDLE handle_, const char* attr_name_, int attr_name_len_);
 
-  /**
-   * @brief Share topic type.
-   *
-   * @param handle_ Publisher handle. 
-   * @param state_  Set type share mode (none zero == share type).
-   *
-   * @return  None zero if succeeded.
-  **/
-  ECALC_API int eCAL_Pub_ShareType(ECAL_HANDLE handle_, int state_);
-
-  /**
-   * @brief Share topic description.
-   *
-   * @param handle_ Publisher handle. 
-   * @param state_  Set description share mode (none zero == share description).
-   *
-   * @return  None zero if succeeded.
-  **/
-  ECALC_API int eCAL_Pub_ShareDescription(ECAL_HANDLE handle_, int state_);
-
   /**
    * @brief Set the specific topic id.
    *

ecal/core/include/ecal/ecal_client.h

@@ -199,6 +199,6 @@ namespace eCAL
 
   protected:
     std::shared_ptr<eCAL::CServiceClientImpl> m_service_client_impl;
-    bool                m_created;
+    bool                                      m_created;
   };
 }

ecal/core/include/ecal/ecal_core.h

@@ -97,11 +97,9 @@ namespace eCAL
   /**
    * @brief Finalize eCAL API.
    *
-   * @param components_  Defines which component to finalize (not yet supported).
-   *
    * @return Zero if succeeded, 1 if already finalized, -1 if failed.
   **/
-  ECAL_API int Finalize(unsigned int components_ = Init::Default);
+  ECAL_API int Finalize();
 
   /**
    * @brief Check eCAL initialize state.