[new core] integrate new nanopb based core (#1370)

new nanopb serialization introduced removal of all deprecated functions removal of publisher SetLayerXY/ShmSetXY API
eclipse-ecal · Feb 29, 2024 · ac314fa · ac314fa
1 parent 0bc41ab
commit ac314fa
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Showing 317 changed files with 16,331 additions and 9,018 deletions.
diff --git a/.github/workflows/clang-tidy-review.yml b/.github/workflows/clang-tidy-review.yml
@@ -32,7 +32,7 @@ jobs:
           build_dir: _build
           apt_packages: "cmake,ninja-build,build-essential,zlib1g-dev,qtbase5-dev,libhdf5-dev,libprotobuf-dev,libprotoc-dev,protobuf-compiler,libcurl4-openssl-dev,libqwt-qt5-dev,libyaml-cpp-dev"
           config_file: ".clang-tidy"
-          exclude: "thirdparty/*,_build/*,convert_utf.cpp,convert_utf.h,testing/*"
+          exclude: "ecal/core/src/serialization/nanopb/*,thirdparty/*,_build/*,convert_utf.cpp,convert_utf.h,testing/*"
           split_workflow: true
           lgtm_comment_body: ""
           cmake_command: |

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -311,11 +311,6 @@ endif()
 # --------------------------------------------------------
 add_subdirectory(contrib/ecalproto)
 
-# --------------------------------------------------------
-# ecal core protobuf interface
-# --------------------------------------------------------
-add_subdirectory(ecal/core_pb)
-
 # --------------------------------------------------------
 # ecal app protobuf interface
 # --------------------------------------------------------
@@ -324,8 +319,7 @@ add_subdirectory(app/app_pb)
 # --------------------------------------------------------
 # ecal core
 # --------------------------------------------------------
-add_subdirectory(ecal/service)
-add_subdirectory(ecal/core)
+add_subdirectory(ecal)
 
 # --------------------------------------------------------
 # custom libs
@@ -472,17 +466,8 @@ if(BUILD_ECAL_TESTS)
   # ------------------------------------------------------
   # test ecal
   # ------------------------------------------------------
-  add_subdirectory(testing/ecal/clientserver_test)
-
-  add_subdirectory(testing/ecal/core_test)
-  add_subdirectory(testing/ecal/event_test)
-  add_subdirectory(testing/ecal/expmap_test)
-  add_subdirectory(testing/ecal/io_memfile_test)
-  add_subdirectory(testing/ecal/pubsub_proto_test)
-  add_subdirectory(testing/ecal/pubsub_test)
-  add_subdirectory(testing/ecal/topic2mcast_test)
-  add_subdirectory(testing/ecal/util_test)
-
+  add_subdirectory(testing/ecal)
+
   # ------------------------------------------------------
   # test apps
   # ------------------------------------------------------
@@ -594,5 +579,4 @@ message(STATUS "ECAL_THIRDPARTY_BUILD_UDPCAP                   : ${ECAL_THIRDPAR
 message(STATUS "ECAL_THIRDPARTY_BUILD_YAML-CPP                 : ${ECAL_THIRDPARTY_BUILD_YAML-CPP}")
 message(STATUS "ECAL_LINK_HDF5_SHARED                          : ${ECAL_LINK_HDF5_SHARED}")
 message(STATUS "CPACK_PACK_WITH_INNOSETUP                      : ${CPACK_PACK_WITH_INNOSETUP}")
-
 message(STATUS "--------------------------------------------------------------------------------")
diff --git a/app/mon/mon_gui/src/widgets/ecalmon_tree_widget/host_widget.cpp b/app/mon/mon_gui/src/widgets/ecalmon_tree_widget/host_widget.cpp
@@ -92,8 +92,6 @@ void HostWidget::autoSizeColumns()
   example_process_pb->set_pname("");
   example_process_pb->set_uname("CameraSensorMapFusionCAF___");
   example_process_pb->set_pparam("");
-  example_process_pb->set_datawrite(99999999999);
-  example_process_pb->set_dataread(99999999999);
 
   HostTreeItem* example_host_item = new HostTreeItem("CARPC00____");
   example_host_item->update(example_monitoring_pb);

diff --git a/app/mon/mon_gui/src/widgets/ecalmon_tree_widget/process_widget.cpp b/app/mon/mon_gui/src/widgets/ecalmon_tree_widget/process_widget.cpp
@@ -86,8 +86,6 @@ ProcessWidget::ProcessWidget(QWidget *parent)
     (int)ProcessTreeModel::Columns::STATE,
     (int)ProcessTreeModel::Columns::INFO,
     (int)ProcessTreeModel::Columns::HEARTBEAT,
-    (int)ProcessTreeModel::Columns::DATAWRITE,
-    (int)ProcessTreeModel::Columns::DATAREAD,
     (int)ProcessTreeModel::Columns::ECAL_RUNTIME_VERSION,
   };
   setVisibleColumns(default_visible_columns);
@@ -116,8 +114,6 @@ void ProcessWidget::autoSizeColumns()
   example_process_pb.set_pname("");
   example_process_pb.set_uname("eCALProcessUnitNameABCDE___");
   example_process_pb.set_pparam("");
-  example_process_pb.set_datawrite(99999999999);
-  example_process_pb.set_dataread(99999999999);
 
   example_process_pb.mutable_state()->set_severity(eCAL::pb::eProcessSeverity::proc_sev_warning);
   example_process_pb.mutable_state()->set_severity_level(eCAL::pb::eProcessSeverityLevel::proc_sev_level5);
@@ -138,8 +134,6 @@ void ProcessWidget::autoSizeColumns()
     (int)ProcessTreeModel::Columns::PROCESS_NAME,
     (int)ProcessTreeModel::Columns::STATE,
     (int)ProcessTreeModel::Columns::HEARTBEAT,
-    (int)ProcessTreeModel::Columns::DATAWRITE,
-    (int)ProcessTreeModel::Columns::DATAREAD,
     (int)ProcessTreeModel::Columns::TIMESYNC_STATE,
     (int)ProcessTreeModel::Columns::TIMESYNC_MOD_NAME,
     (int)ProcessTreeModel::Columns::COMPONENT_INIT_INFO,

diff --git a/app/mon/mon_gui/src/widgets/log_widget/log_widget.cpp b/app/mon/mon_gui/src/widgets/log_widget/log_widget.cpp
@@ -54,12 +54,12 @@ LogWidget::LogWidget(QWidget *parent)
   : QWidget(parent)
   , log_update_time_milliseconds_(100)
   , parse_time_enabled_(true)
+  , log_model_(new LogModel(this))
+  , log_proxy_model_(new LogSortFilterProxyModel(this))
 {
   ui_.setupUi(this);
 
   // Tree Model
-  log_model_ = new LogModel(this);
-  log_proxy_model_ = new LogSortFilterProxyModel(this);
   log_proxy_model_->setFilterRole(ItemDataRoles::FilterRole);
   log_proxy_model_->setSortRole(ItemDataRoles::SortRole);
   log_proxy_model_->setFilterCaseSensitivity(Qt::CaseSensitivity::CaseInsensitive);
@@ -188,9 +188,9 @@ LogWidget::~LogWidget()
 void LogWidget::getEcalLogs()
 {
   eCAL::pb::LogMessageList logging;
-  std::string     logging_string;
+  std::string              logging_string;
 
-  if (eCAL::Monitoring::GetLogging(logging_string))
+  if (eCAL::Logging::GetLogging(logging_string) != 0)
   {
     logging.ParseFromString(logging_string);
   }
@@ -420,7 +420,7 @@ void LogWidget::setLogLevelFilter(int log_level)
 void LogWidget::contextMenu(const QPoint &pos)
 {
   auto selected_proxy_rows = ui_.log_tree->selectionModel()->selectedRows(LogModel::Columns::TIME);
-  if (selected_proxy_rows.size() > 0)
+  if (!selected_proxy_rows.empty())
   {
     QMenu context_menu(this);
 
@@ -443,7 +443,7 @@ void LogWidget::copySelectedRows()
   for (auto& proxy_row : selected_proxy_rows)
   {
     bool first_element = true;
-    auto ui_log_tree_model = ui_.log_tree->model();
+    auto *ui_log_tree_model = ui_.log_tree->model();
     for (int column = 0; column < ui_log_tree_model->columnCount(); column++)
     {
       if (!ui_.log_tree->isColumnHidden(column))

diff --git a/app/mon/mon_gui/src/widgets/log_widget/log_widget.h b/app/mon/mon_gui/src/widgets/log_widget/log_widget.h
@@ -61,7 +61,7 @@ private slots:
   void paused(bool paused);
 
 private:
-  Ui::LogWidget ui_;
+  Ui::LogWidget ui_{};
 
   QTimer* log_update_timer_;
   int log_update_time_milliseconds_;
@@ -81,8 +81,8 @@ private slots:
   };
 
   QByteArray initial_tree_state_;
-  int        initial_log_level_filter_;
-  bool       initial_auto_scroll_;
+  int        initial_log_level_filter_{};
+  bool       initial_auto_scroll_{};
 
 
   void saveGuiSettings();

diff --git a/app/mon/mon_gui/src/widgets/models/process_tree_item.cpp b/app/mon/mon_gui/src/widgets/models/process_tree_item.cpp
@@ -81,14 +81,6 @@ QVariant ProcessTreeItem::data(Columns column, Qt::ItemDataRole role) const
     {
       return process_.pparam().c_str();
     }
-    else if (column == Columns::DATAWRITE)
-    {
-      return (long long)process_.datawrite();
-    }
-    else if (column == Columns::DATAREAD)
-    {
-      return (long long)process_.dataread();
-    }
     else if (column == Columns::SEVERITY)
     {
       severityToCombinedInt(process_.state().severity(), process_.state().severity_level());
@@ -191,8 +183,6 @@ QVariant ProcessTreeItem::data(Columns column, Qt::ItemDataRole role) const
   {
     if ((column == Columns::RCLOCK)
       || (column == Columns::PID)
-      || (column == Columns::DATAWRITE)
-      || (column == Columns::DATAREAD)
       )
     {
       return Qt::AlignmentFlag::AlignRight;

diff --git a/app/mon/mon_gui/src/widgets/models/process_tree_item.h b/app/mon/mon_gui/src/widgets/models/process_tree_item.h
@@ -44,8 +44,6 @@ class ProcessTreeItem :
     PNAME,
     UNAME,
     PPARAM,
-    DATAWRITE,
-    DATAREAD,
     SEVERITY,
     INFO,
     TSYNC_STATE,

diff --git a/app/mon/mon_gui/src/widgets/models/process_tree_model.h b/app/mon/mon_gui/src/widgets/models/process_tree_model.h
@@ -55,8 +55,6 @@ class ProcessTreeModel : public GroupTreeModel
     STATE,
     INFO,
     HEARTBEAT,
-    DATAWRITE,
-    DATAREAD,
     TIMESYNC_STATE,
     TIMESYNC_MOD_NAME,
     COMPONENT_INIT_INFO,
@@ -93,8 +91,6 @@ class ProcessTreeModel : public GroupTreeModel
     { Columns::STATE,                "State" },
     { Columns::INFO,                 "Info" },
     { Columns::HEARTBEAT,            "Heartbeat" },
-    { Columns::DATAWRITE,            "Data Write [Byte/s]" },
-    { Columns::DATAREAD,             "Data Read [Byte/s]" },
     { Columns::TIMESYNC_STATE,       "Timesync State" },
     { Columns::TIMESYNC_MOD_NAME,    "Timesync Mod Name" },
     { Columns::COMPONENT_INIT_INFO,  "Component Initialization" },
@@ -113,8 +109,6 @@ class ProcessTreeModel : public GroupTreeModel
     { Columns::STATE,                (int)ProcessTreeItem::Columns::SEVERITY },
     { Columns::INFO,                 (int)ProcessTreeItem::Columns::INFO },
     { Columns::HEARTBEAT,            (int)ProcessTreeItem::Columns::RCLOCK },
-    { Columns::DATAWRITE,            (int)ProcessTreeItem::Columns::DATAWRITE },
-    { Columns::DATAREAD,             (int)ProcessTreeItem::Columns::DATAREAD },
     { Columns::TIMESYNC_STATE,       (int)ProcessTreeItem::Columns::TSYNC_STATE },
     { Columns::TIMESYNC_MOD_NAME,    (int)ProcessTreeItem::Columns::TSYNC_MOD_NAME },
     { Columns::COMPONENT_INIT_INFO,  (int)ProcessTreeItem::Columns::COMPONENT_INIT_INFO },

diff --git a/app/mon/mon_plugins/protobuf_reflection/CMakeLists.txt b/app/mon/mon_plugins/protobuf_reflection/CMakeLists.txt
@@ -64,6 +64,7 @@ target_link_libraries (${PROJECT_NAME}
   Qt${QT_VERSION_MAJOR}::Core
   Qt${QT_VERSION_MAJOR}::Widgets
   eCAL::core
+  eCAL::proto
   eCAL::app_pb
   protobuf::libprotobuf
   MonitorTreeView

diff --git a/app/mon/mon_plugins/signals_plotting/CMakeLists.txt b/app/mon/mon_plugins/signals_plotting/CMakeLists.txt
@@ -76,6 +76,7 @@ target_link_libraries (${PROJECT_NAME}
   Qt${QT_VERSION_MAJOR}::Core
   Qt${QT_VERSION_MAJOR}::Widgets
   eCAL::core
+  eCAL::proto
   eCAL::app_pb
   protobuf::libprotobuf
   eCAL::mon_plugin_lib

diff --git a/app/mon/mon_tui/CMakeLists.txt b/app/mon/mon_tui/CMakeLists.txt
@@ -120,6 +120,7 @@ target_link_libraries(${PROJECT_NAME}
   tclap::tclap
   eCAL::core
   eCAL::core_pb
+  eCAL::proto
   ftxui::screen
   ftxui::dom
   ftxui::component)

diff --git a/app/mon/mon_tui/src/model/data/process.hpp b/app/mon/mon_tui/src/model/data/process.hpp
@@ -43,8 +43,6 @@ struct Process
   std::string host_name;
   std::string unit_name;
   std::string params;
-  int64_t data_sent_bytes;
-  int64_t data_recieved_bytes;
   Severity severity;
   SeverityLevel severity_level;
   std::string state_info;

diff --git a/app/mon/mon_tui/src/model/data/topic.hpp b/app/mon/mon_tui/src/model/data/topic.hpp
@@ -36,7 +36,6 @@ struct Topic
   };
 
   int32_t registration_clock;
-  int32_t host_id;
   std::string host_name;
   int32_t pid;
   std::string process_name;

diff --git a/app/mon/mon_tui/src/model/log.hpp b/app/mon/mon_tui/src/model/log.hpp
@@ -25,7 +25,8 @@
 #ifdef _MSC_VER
 #pragma warning(push, 0) // disable proto warnings
 #endif
-#include <ecal/core/pb/logging.pb.h>
+#include "ecal/core/pb/logging.pb.h"
+#include "ecal/core/pb/monitoring.pb.h"
 #ifdef _MSC_VER
 #pragma warning(pop)
 #endif
@@ -110,7 +111,7 @@ class LogModel
     {
       std::lock_guard<std::mutex> lock{mtx};
       std::string raw_data;
-      eCAL::Monitoring::GetLogging(raw_data);
+      eCAL::Logging::GetLogging(raw_data);
       logs.ParseFromString(raw_data);
 
       auto &pb_logs = logs.log_messages();

diff --git a/app/mon/mon_tui/src/model/monitor.hpp b/app/mon/mon_tui/src/model/monitor.hpp
@@ -162,8 +162,6 @@ class MonitorModel
       process.host_name = std::move(*p.mutable_hname());
       process.unit_name = std::move(*p.mutable_uname());
       process.params = std::move(*p.mutable_pparam());
-      process.data_sent_bytes = p.datawrite();
-      process.data_recieved_bytes = p.dataread();
       process.severity = Severity(p.state().severity());
       process.severity_level = SeverityLevel(p.state().severity_level());
       process.state_info = std::move(*p.mutable_state()->mutable_info());
@@ -194,7 +192,6 @@ class MonitorModel
       }
       auto &topic = topics.emplace_back();
       topic.registration_clock = t.rclock();
-      topic.host_id = t.hid();
       topic.host_name = std::move(*t.mutable_hname());
       topic.pid = t.pid();
       topic.process_name = std::move(*t.mutable_pname());

diff --git a/app/play/play_core/src/measurement_container.cpp b/app/play/play_core/src/measurement_container.cpp
@@ -18,6 +18,8 @@
 */
 
 #include "measurement_container.h"
+
+#include <ecal/ecal_util.h>
 #include <ecal/measurement/hdf5/reader.h>
 
 #include <algorithm>

diff --git a/ecal/CMakeLists.txt b/ecal/CMakeLists.txt
@@ -0,0 +1,69 @@
+# ========================= eCAL LICENSE =================================
+#
+# Copyright (C) 2016 - 2019 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.
+#
+# ========================= eCAL LICENSE =================================
+
+project(core VERSION ${eCAL_VERSION_STRING})
+
+# ------------------------------------------------------------------------------------------------------------------------------------------------------------------
+# core internal feature configuration - start
+# ------------------------------------------------------------------------------------------------------------------------------------------------------------------
+option(ECAL_CORE_CONFIG_INIFILE                          "Enables to configure eCAL via ecal.ini file"                                                           ON)
+option(ECAL_CORE_COMMAND_LINE                            "Enables eCAL application cmd line interfaces"                                                          ON)
+option(ECAL_CORE_REGISTRATION                            "Enables the eCAL registration layer"                                                                   ON)
+option(ECAL_CORE_MONITORING                              "Enables the eCAL monitoring functionality"                                                             ON)
+option(ECAL_CORE_PUBLISHER                               "Enables the eCAL publisher functionality"                                                              ON)
+option(ECAL_CORE_SUBSCRIBER                              "Enables the eCAL subscriber functionality"                                                             ON)
+option(ECAL_CORE_SERVICE                                 "Enables the eCAL server/client functionality"                                                          ON)
+option(ECAL_CORE_TIMEPLUGIN                              "Enables the eCAL time plugin functionality"                                                            ON)
+#option(ECAL_CORE_NPCAP_SUPPORT                           "Enable the eCAL Npcap Receiver (Win10 performance fix for UDP communication)"                         OFF)
+# ------------------------------------------------------------------------------------------------------------------------------------------------------------------
+# core registration layer options (change with care)
+# ------------------------------------------------------------------------------------------------------------------------------------------------------------------
+option(ECAL_CORE_REGISTRATION_SHM                        "Enables the eCAL registration layer over shared memory"                                                ON)
+# ------------------------------------------------------------------------------------------------------------------------------------------------------------------
+# core transport layer options (change with care)
+# ------------------------------------------------------------------------------------------------------------------------------------------------------------------
+option(ECAL_CORE_TRANSPORT_UDP                           "Enables the eCAL to transport payload via UDP multicast"                                               ON)
+option(ECAL_CORE_TRANSPORT_TCP                           "Enables the eCAL to transport payload via TCP"                                                         ON)
+option(ECAL_CORE_TRANSPORT_SHM                           "Enables the eCAL to transport payload via local shared memory"                                         ON)
+# ------------------------------------------------------------------------------------------------------------------------------------------------------------------
+# core internal feature configuration - end
+# ------------------------------------------------------------------------------------------------------------------------------------------------------------------
+
+cmake_dependent_option(ECAL_CORE_NPCAP_SUPPORT "Enable the eCAL Npcap Receiver (Win10 performance fix for UDP communication)" ON "ECAL_NPCAP_SUPPORT" OFF)
+
+add_subdirectory(core)
+add_subdirectory(core_pb)
+add_subdirectory(service)
+
+
+message(STATUS "ECAL_CORE Build Options:")
+message(STATUS "--------------------------------------------------------------------------------")
+message(STATUS "ECAL_CORE_CONFIG_INIFILE                       : ${ECAL_CORE_CONFIG_INIFILE}")
+message(STATUS "ECAL_CORE_COMMAND_LINE                         : ${ECAL_CORE_COMMAND_LINE}")
+message(STATUS "ECAL_CORE_REGISTRATION                         : ${ECAL_CORE_REGISTRATION}")
+message(STATUS "ECAL_CORE_MONITORING                           : ${ECAL_CORE_MONITORING}")
+message(STATUS "ECAL_CORE_PUBLISHER                            : ${ECAL_CORE_PUBLISHER}")
+message(STATUS "ECAL_CORE_SUBSCRIBER                           : ${ECAL_CORE_SUBSCRIBER}")
+message(STATUS "ECAL_CORE_SERVICE                              : ${ECAL_CORE_SERVICE}")
+message(STATUS "ECAL_CORE_TIMEPLUGIN                           : ${ECAL_CORE_TIMEPLUGIN}")
+message(STATUS "ECAL_CORE_NPCAP_SUPPORT                        : ${ECAL_CORE_NPCAP_SUPPORT}")
+message(STATUS "ECAL_CORE_REGISTRATION_SHM                     : ${ECAL_CORE_REGISTRATION_SHM}")
+message(STATUS "ECAL_CORE_TRANSPORT_UDP                        : ${ECAL_CORE_TRANSPORT_UDP}")
+message(STATUS "ECAL_CORE_TRANSPORT_TCP                        : ${ECAL_CORE_TRANSPORT_TCP}")
+message(STATUS "ECAL_CORE_TRANSPORT_SHM                        : ${ECAL_CORE_TRANSPORT_SHM}")
+message(STATUS "--------------------------------------------------------------------------------")