Merge branch 'master' into feature/ecal_api_config_path_review

.clang-tidy

@@ -40,6 +40,7 @@ Checks: "-*,
   misc-*,
   -misc-non-private-member-variables-in-classes,
   -misc-no-recursion,
+  -misc-include-cleaner,
   
   modernize-*,
   -modernize-pass-by-value,
@@ -61,6 +62,7 @@ Checks: "-*,
   -readability-redundant-access-specifiers,
   -readability-uppercase-literal-suffix,
   -readability-use-anyofallof,
+  -readability-avoid-const-params-in-decls,
 "
 WarningsAsErrors: ''
 HeaderFilterRegex: '^((?!/thirdparty/|/_deps/).)*$'

.github/workflows/build-ubuntu.yml

@@ -82,7 +82,6 @@ jobs:
         git submodule deinit thirdparty/curl/curl
         git submodule deinit thirdparty/gtest/googletest
         git submodule deinit thirdparty/hdf5/hdf5
-        git submodule deinit thirdparty/libssh2/libssh2
         git submodule deinit thirdparty/protobuf/protobuf
         git submodule update
 

.gitmodules

@@ -22,9 +22,6 @@
 [submodule "thirdparty/curl"]
 	path = thirdparty/curl/curl
 	url = https://github.com/curl/curl.git
-[submodule "thirdparty/libssh2"]
-	path = thirdparty/libssh2/libssh2
-	url = https://github.com/libssh2/libssh2.git
 [submodule "thirdparty/hdf5"]
 	path = thirdparty/hdf5/hdf5
 	url = https://github.com/HDFGroup/hdf5.git

app/mon/mon_plugins/raw_data_reflection/src/plugin_widget.cpp

@@ -59,7 +59,7 @@ PluginWidget::PluginWidget(const QString& topic_name, const QString&, QWidget* p
   ui_.content_layout->addWidget(frame);
 
   // Connect the eCAL Subscriber
-  subscriber_.AddReceiveCallback([this](const eCAL::Registration::STopicId& /*topic_id*/,
+  subscriber_.SetReceiveCallback([this](const eCAL::Registration::STopicId& /*topic_id*/,
     const eCAL::SDataTypeInformation& /*data_type_info*/,
     const eCAL::SReceiveCallbackData& callback_data)
     {
@@ -69,7 +69,7 @@ PluginWidget::PluginWidget(const QString& topic_name, const QString&, QWidget* p
 
 PluginWidget::~PluginWidget()
 {
-  subscriber_.RemReceiveCallback();
+  subscriber_.RemoveReceiveCallback();
 }
 
 void PluginWidget::ecalMessageReceivedCallback(const eCAL::SReceiveCallbackData& callback_data)
@@ -134,7 +134,7 @@ void PluginWidget::onUpdate()
 void PluginWidget::onResume()
 {
   // (Re)Connect the eCAL Subscriber
-  subscriber_.AddReceiveCallback([this](const eCAL::Registration::STopicId& /*topic_id*/,
+  subscriber_.SetReceiveCallback([this](const eCAL::Registration::STopicId& /*topic_id*/,
     const eCAL::SDataTypeInformation& /*data_type_info*/,
     const eCAL::SReceiveCallbackData& callback_data)
     {
@@ -144,7 +144,7 @@ void PluginWidget::onResume()
 
 void PluginWidget::onPause()
 {
-  subscriber_.RemReceiveCallback();
+  subscriber_.RemoveReceiveCallback();
 }
 
 void PluginWidget::updateRawMessageView()

app/mon/mon_tui/src/tui/viewmodel/message_visualization/raw.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.
@@ -36,12 +36,12 @@ class RawMessageVisualizationViewModel : public MessageVisualizationViewModel
   mutable std::mutex message_mtx;
   std::string latest_message;
 
-  void OnMessage(const struct eCAL::SReceiveCallbackData* callback_data)
+  void OnMessage(const struct eCAL::SReceiveCallbackData& callback_data)
   {
     {
       std::lock_guard<std::mutex> lock{message_mtx};
-      latest_message = std::string(static_cast<char *>(callback_data->buf), callback_data->size);
-      message_timestamp = callback_data->time;
+      latest_message = std::string(static_cast<char *>(callback_data.buf), callback_data.size);
+      message_timestamp = callback_data.time;
     }
 
     NotifyDataUpdated();
@@ -52,7 +52,7 @@ class RawMessageVisualizationViewModel : public MessageVisualizationViewModel
     : subscriber{topic}
   {
     using namespace std::placeholders;
-    subscriber.AddReceiveCallback(std::bind(&RawMessageVisualizationViewModel::OnMessage, this, _2));
+    subscriber.SetReceiveCallback(std::bind(&RawMessageVisualizationViewModel::OnMessage, this, _3));
   }
 
   std::string message() const

app/play/play_core/src/measurement_container.h

@@ -24,6 +24,7 @@
 #include <memory>
 
 #include <ecal/ecal.h>
+#include <ecal/ecal_publisher_v5.h>
 #include <ecalhdf5/eh5_meas.h>
 
 #include "continuity_report.h"
@@ -90,7 +91,7 @@ class MeasurementContainer
 private:
   struct PublisherInfo
   {
-    eCAL::CPublisher publisher_;
+    eCAL::v5::CPublisher publisher_;
     long long message_counter_;
 
     PublisherInfo(const std::string& topic_name, const eCAL::SDataTypeInformation& info_)

app/rec/rec_client_core/src/ecal_rec_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.
@@ -695,12 +695,12 @@ namespace eCAL
       return subscribed_topics;
     }
 
-    void EcalRecImpl::EcalMessageReceived(const char* topic_name, const eCAL::SReceiveCallbackData* callback_data)
+    void EcalRecImpl::EcalMessageReceived(const eCAL::Registration::STopicId& topic_id_, const eCAL::SReceiveCallbackData& data_)
     {
       auto ecal_receive_time   = eCAL::Time::ecal_clock::now();
       auto system_receive_time = std::chrono::steady_clock::now();
 
-      std::shared_ptr<Frame> frame = std::make_shared<Frame>(callback_data, topic_name, ecal_receive_time, system_receive_time);
+      std::shared_ptr<Frame> frame = std::make_shared<Frame>(&data_, topic_id_.topic_name, ecal_receive_time, system_receive_time);
 
       pre_buffer_.push_back(frame);
 
@@ -821,14 +821,14 @@ namespace eCAL
         if (subscriber_map_.find(topic) == subscriber_map_.end())
         {
           EcalRecLogger::Instance()->info("Subscribing to " + topic);
-          std::unique_ptr<eCAL::CSubscriber> subscriber = std::make_unique<eCAL::CSubscriber>();
-          if (!subscriber->Create(topic))
+          std::unique_ptr<eCAL::CSubscriber> subscriber = std::make_unique<eCAL::CSubscriber>(topic);
+          if (!subscriber)
           {
             EcalRecLogger::Instance()->error("Error creating subscriber for topic " + topic);
             info_ = { false, "Error creating eCAL subsribers" };
             continue;
           }
-          if (!subscriber->AddReceiveCallback(std::bind(&EcalRecImpl::EcalMessageReceived, this, std::placeholders::_1, std::placeholders::_2)))
+          if (!subscriber->SetReceiveCallback(std::bind(&EcalRecImpl::EcalMessageReceived, this, std::placeholders::_1, std::placeholders::_3)))
           {
             EcalRecLogger::Instance()->error("Error adding callback for subscriber on topic " + topic);
             info_ = { false, "Error creating eCAL subsribers" };
@@ -848,7 +848,6 @@ namespace eCAL
         {
           EcalRecLogger::Instance()->info("Unsubscribing from " + subscriber_it->first);
 
-          subscriber_it->second->Destroy();
           subscriber_it = subscriber_map_.erase(subscriber_it);
         }
         else

app/rec/rec_client_core/src/ecal_rec_impl.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.
@@ -115,7 +115,7 @@ namespace eCAL
 
       std::set<std::string> GetSubscribedTopics() const;
 
-      void EcalMessageReceived(const char* topic_name, const eCAL::SReceiveCallbackData* callback_data);
+      void EcalMessageReceived(const eCAL::Registration::STopicId& topic_id_, const eCAL::SReceiveCallbackData& data_);
 
       //////////////////////////////////////
       //// API for external threads     ////

contrib/ecalhdf5/src/eh5_meas_api_v2.cpp

@@ -23,6 +23,7 @@
 
 #include <ecalhdf5/eh5_meas_api_v2.h>
 
+#include <algorithm>
 #include <limits>
 
 #include <ecalhdf5/eh5_meas_api_v3.h>

ecal/core/CMakeLists.txt

@@ -69,7 +69,6 @@ set(ecal_config_src
     src/config/ecal_config.cpp
     src/config/ecal_config_initializer.cpp
     src/config/ecal_path_processing.cpp
-    src/config/transport_layer.cpp
     src/types/ecal_custom_data_types.cpp
 )
 if (ECAL_CORE_CONFIGURATION)
@@ -207,6 +206,9 @@ endif()
 if(ECAL_CORE_PUBLISHER)
   set(ecal_pub_src
       src/pubsub/ecal_publisher.cpp
+      src/pubsub/ecal_publisher_impl.cpp
+      src/pubsub/ecal_publisher_impl.h
+      src/pubsub/ecal_publisher_v5.cpp
       src/pubsub/ecal_pubgate.cpp
       src/pubsub/ecal_pubgate.h
   )
@@ -215,6 +217,9 @@ endif()
 if(ECAL_CORE_SUBSCRIBER)
   set(ecal_sub_src
       src/pubsub/ecal_subscriber.cpp
+      src/pubsub/ecal_subscriber_impl.cpp
+      src/pubsub/ecal_subscriber_impl.h
+      src/pubsub/ecal_subscriber_v5.cpp
       src/pubsub/ecal_subgate.cpp
       src/pubsub/ecal_subgate.h
   )
@@ -229,8 +234,6 @@ set(ecal_readwrite_src
 
 if(ECAL_CORE_PUBLISHER)
   set(ecal_writer_src
-      src/readwrite/ecal_writer.cpp
-      src/readwrite/ecal_writer.h
       src/readwrite/ecal_writer_base.h
       src/readwrite/ecal_writer_buffer_payload.h
       src/readwrite/ecal_writer_data.h
@@ -259,8 +262,6 @@ endif()
 
 if(ECAL_CORE_SUBSCRIBER)
   set(ecal_reader_src
-      src/readwrite/ecal_reader.cpp
-      src/readwrite/ecal_reader.h
       src/readwrite/ecal_reader_layer.h
   )
   if(ECAL_CORE_TRANSPORT_UDP)
@@ -298,9 +299,7 @@ if (ECAL_CORE_REGISTRATION)
       src/registration/ecal_registration_sample_applier.cpp
       src/registration/ecal_registration_sample_applier.h
       src/registration/ecal_registration_sample_applier_gates.cpp
-      src/registration/ecal_registration_sample_applier_gates.h      
-      src/registration/ecal_registration_sample_applier_user.cpp
-      src/registration/ecal_registration_sample_applier_user.h
+      src/registration/ecal_registration_sample_applier_gates.h
       src/registration/ecal_registration_timeout_provider.cpp
       src/registration/ecal_registration_timeout_provider.h
       src/registration/ecal_registration_sender.h
@@ -392,6 +391,9 @@ if(ECAL_CORE_SERVICE)
       src/service/ecal_service_server.cpp
       src/service/ecal_service_server_impl.cpp
       src/service/ecal_service_server_impl.h
+      src/service/ecal_service_server_v5.cpp
+      src/service/ecal_service_server_v5_impl.cpp
+      src/service/ecal_service_server_v5_impl.h
       src/service/ecal_service_singleton_manager.cpp
       src/service/ecal_service_singleton_manager.h
   )
@@ -514,7 +516,6 @@ set(ecal_header_cmn
     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
@@ -539,9 +540,12 @@ set(ecal_header_cmn
     include/ecal/ecal_process_severity.h
     include/ecal/ecal_registration.h
     include/ecal/ecal_publisher.h
+    include/ecal/ecal_publisher_v5.h
     include/ecal/ecal_server.h
+    include/ecal/ecal_server_v5.h
     include/ecal/ecal_service_info.h
     include/ecal/ecal_subscriber.h
+    include/ecal/ecal_subscriber_v5.h
     include/ecal/ecal_time.h
     include/ecal/ecal_timer.h
     include/ecal/ecal_tlayer.h

ecal/core/include/ecal/cimpl/ecal_callback_cimpl.h

@@ -71,19 +71,6 @@ enum eCAL_Server_Event
   server_event_disconnected = 2,
 };
 
-/**
- * @brief eCAL common registration event type.
-**/
-enum eCAL_Registration_Event
-{
-  reg_event_none            = 0,
-  reg_event_publisher       = 1,
-  reg_event_subscriber      = 2,
-  reg_event_service         = 3,
-  reg_event_client          = 5,
-  reg_event_process         = 4,
-};
-
 #ifdef _MSC_VER
 #pragma pack(push, 8)
 #endif

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

@@ -67,7 +67,7 @@ extern "C"
    * @param unit_name_   Defines the name of the eCAL unit. 
    * @param components_  Defines which component to initialize.
    *
-   * @return Zero if succeeded, 1 if already initialized, -1 if failed.
+   * @return Zero if succeeded.
   **/
   ECALC_API int eCAL_Initialize(const char *unit_name_, unsigned int components_);
 
@@ -83,21 +83,21 @@ extern "C"
   /**
    * @brief Finalize eCAL API.
    *
-   * @return Zero if succeeded, 1 if already finalized, -1 if failed.
+   * @return Zero if succeeded.
   **/
   ECALC_API int eCAL_Finalize();
 
   /**
    * @brief Check eCAL initialize state.
    *
-   * @return None zero if eCAL is initialized.
+   * @return Non-zero if eCAL is initialized.
   **/
   ECALC_API int eCAL_IsInitialized();
 
   /**
    * @brief Return the eCAL process state.
    *
-   * @return  None zero if eCAL is in proper state. 
+   * @return Non-zero if eCAL is in proper state. 
   **/
   ECALC_API int eCAL_Ok();
 

ecal/core/include/ecal/cimpl/ecal_log_cimpl.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.
@@ -33,26 +33,12 @@
 extern "C"
 {
 #endif /*__cplusplus*/
-  /**
-   * @brief Sets the log level. 
-   *
-   * @param level_  The level. 
-  **/
-  ECALC_API void eCAL_Logging_SetLogLevel(enum eCAL_Logging_eLogLevel level_);
-
-  /**
-   * @brief Get the current log level.
-   *
-   * @return   The current log level.
-  **/
-  ECALC_API enum eCAL_Logging_eLogLevel eCAL_Logging_GetLogLevel();
-
   /**
    * @brief Log a message (with current log level). 
    *
    * @param msg_  The log message string.
   **/
-  ECALC_API void eCAL_Logging_Log(const char* const msg_);
+  ECALC_API void eCAL_Logging_Log(enum eCAL_Logging_eLogLevel level_, const char* const msg_);
 
   /**
    * @brief Get logging string.

ecal/core/include/ecal/config/configuration.h

@@ -27,7 +27,6 @@
 #include <ecal/config/application.h>
 #include <ecal/config/monitoring.h>
 #include <ecal/config/registration.h>
-#include <ecal/config/service.h>
 #include <ecal/config/logging.h>
 #include <ecal/config/user_arguments.h>
 #include <ecal/config/publisher.h>
@@ -54,7 +53,6 @@ namespace eCAL
     Subscriber::Configuration     subscriber;
     Publisher::Configuration      publisher;
     Time::Configuration           timesync;
-    Service::Configuration        service;
     Application::Configuration    application;
     Logging::Configuration        logging;
     Cli::Configuration            command_line_arguments;