[c#] Folder structure rework.

All C# related code is not in the subfolder `lang/csharp`.
The folders are then separated based on the functionality.
All related samples share the same CMakeLists.txt file, which makes it easier to add new samples.

lang/csharp/CMakeLists.txt

@@ -2,12 +2,24 @@
 project(ecal_csharp)
 
 set(CMAKE_DOTNET_SDK "")
-set(ECAL_CSHARP_PROTOBUF_VERSION "3.11.4" CACHE STRING "Protobuf Version for C# build")
+set(ECAL_CSHARP_PROTOBUF_VERSION "3.26.1" CACHE STRING "Protobuf Version for C# build")
+
 option(ECAL_CSHARP_BUILD_SAMPLES "BUILD eCAL C# samples" ON)
+option(ECAL_CSHARP_BUILD_TESTS   "BUILD eCAL C# unittests" ON)
 
-add_subdirectory(Continental/eCAL/Core)
-add_subdirectory(Continental/eCAL/Protobuf)
+add_subdirectory(Continental.eCAL.Core)
+add_subdirectory(Continental.eCAL.Protobuf)
+if (ECAL_CSHARP_BUILD_TESTS)
+add_subdirectory(Continental.eCAL.Core.Test)
+add_subdirectory(Continental.eCAL.Protobuf.Test)
+endif()
 
 if (ECAL_CSHARP_BUILD_SAMPLES)
-add_subdirectory(../../samples/csharp samples)
-endif ()
+add_subdirectory(Continental.eCAL.Core.Samples)
+add_subdirectory(Continental.eCAL.Protobuf.Samples)
+endif ()
+
+if (ECAL_CSHARP_BUILD_SAMPLES OR ECAL_CSHARP_BUILD_TESTS)
+#Contains the person.proto which are being compiled to cs files
+add_subdirectory(Continental.eCAL.Protobuf.Person)
+endif()

samples/csharp/pubsub/string/minimal_rec/CMakeLists.txt → lang/csharp/Continental.eCAL.Core.Samples/CMakeLists.txt

@@ -17,16 +17,26 @@
 # ========================= eCAL LICENSE =================================
 
 include(CSharpUtilities)
-project(minimal_rec_cs LANGUAGES CSharp)
+project(Continental.eCAL.Core.Samples LANGUAGES CSharp)
 
 find_package(eCAL REQUIRED)
 
-set(minimal_rec_cs_src
-    minimal_rec.cs
-)
 
-ecal_add_sample(${PROJECT_NAME} ${minimal_rec_cs_src})
+macro(ecal_add_csharp_core_sample sample_name)
+  ecal_add_sample(${sample_name} ${sample_name}.cs)
+  target_link_libraries(${sample_name} Continental.eCAL.Core)
+  set_property(TARGET ${sample_name} PROPERTY FOLDER samples/csharp/core)
+endmacro()
+
+ecal_add_csharp_core_sample(pubsub_minimal_rec)
+ecal_add_csharp_core_sample(pubsub_minimal_rec_cb)
+ecal_add_csharp_core_sample(pubsub_minimal_snd)
+
+ecal_add_csharp_core_sample(service_minimal_client)
+ecal_add_csharp_core_sample(service_minimal_server)
+
+
+
+
 
-target_link_libraries(${PROJECT_NAME} Continental.eCAL.Core)
 
-set_property(TARGET ${PROJECT_NAME} PROPERTY FOLDER samples/csharp/pubsub/string)

lang/csharp/Continental.eCAL.Core.Test/CMakeLists.txt

@@ -0,0 +1,51 @@
+# ========================= eCAL 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.
+#
+# ========================= eCAL LICENSE =================================
+
+include(CSharpUtilities)
+project(Continental.eCAL.Core.Test LANGUAGES CSharp)
+
+add_library(${PROJECT_NAME} SHARED)
+
+target_sources(${PROJECT_NAME}
+  PRIVATE
+    test.cs
+)
+
+target_link_libraries(${PROJECT_NAME} Continental.eCAL.Core)
+
+set_target_properties(${PROJECT_NAME} PROPERTIES
+  VS_GLOBAL_ROOTNAMESPACE ${PROJECT_NAME}
+  VS_DOTNET_TARGET_FRAMEWORK_VERSION "v4.6.1"
+  # mark this is a unit testing project, see https://cmake.org/cmake/help/latest/prop_tgt/VS_GLOBAL_PROJECT_TYPES.html
+  VS_GLOBAL_PROJECT_TYPES "{3AC096D0-A1C2-E12C-1390-A8335801FDAB};{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}"
+)
+
+set_property(TARGET ${PROJECT_NAME}  PROPERTY
+  VS_PACKAGE_REFERENCES 
+    "MSTest.TestFramework_2.2.10;MSTest.TestAdapter_2.2.10"
+)
+
+install(TARGETS ${PROJECT_NAME}
+    # IMPORTANT: Add the library to the "export-set"
+    EXPORT eCALTargets
+    RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT runtime
+    LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT sdk
+    PUBLIC_HEADER DESTINATION "${INSTALL_INCLUDE_DIR}/ecal" COMPONENT sdk
+)
+
+set_property(TARGET ${PROJECT_NAME} PROPERTY FOLDER tests/csharp)

lang/csharp/Continental.eCAL.Core.Test/test.cs

@@ -0,0 +1,59 @@
+/* ========================= eCAL 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.
+ *
+ * ========================= eCAL LICENSE =================================
+*/
+
+using System;
+using Continental.eCAL.Core;
+
+using Microsoft.VisualStudio.TestTools.UnitTesting;
+using System.Threading.Tasks;
+
+[TestClass]
+public class eCALBinaryTest
+{
+  [TestInitialize]
+  public void Initialize()
+  {
+    Continental.eCAL.Core.Util.Initialize("Binary Test C#");
+    Continental.eCAL.Core.Util.EnableLoopback(true);
+  }
+
+  [TestCleanup]
+  public void Cleanup()
+  {
+    Continental.eCAL.Core.Util.Terminate();
+  }
+
+  // This test ensures that 0  values which are not present on the wire, are still deserialized correctly. (#1593)
+  [TestMethod]
+  public void PublishSubscribeTest()
+  {
+    // create a subscriber
+    Publisher publisher = new Publisher("Hello", "std::string", "base", "");
+    Subscriber subscriber = new Subscriber("Hello", "std::string", "base", "");
+
+    {
+      string message = "HELLO WORLD FROM C#";
+      publisher.Send(message, -1);
+      var received_message = subscriber.Receive(100);
+      Assert.IsNotNull(received_message);
+      Assert.IsTrue(message == received_message.data);
+    }
+
+  }
+}

samples/csharp/pubsub/protobuf/protobuf/CMakeLists.txt → lang/csharp/Continental.eCAL.Protobuf.Person/CMakeLists.txt

@@ -24,9 +24,9 @@ include(CSharpUtilities)
 find_package(Protobuf REQUIRED)
 include(protobuf_csharp_helper.cmake)
 
-project(person_protobufs_cs LANGUAGES CSharp)
+project(Continental.eCAL.Protobuf.Person LANGUAGES CSharp)
 
-add_library(person_protobufs_cs SHARED)
+add_library(Continental.eCAL.Protobuf.Person SHARED)
 
 PROTOBUF_TARGET_CSHARP(${PROJECT_NAME} ${CMAKE_CURRENT_SOURCE_DIR} 
   ${CMAKE_CURRENT_SOURCE_DIR}/animal.proto
@@ -44,4 +44,4 @@ set_property(TARGET ${PROJECT_NAME}  PROPERTY
   VS_PACKAGE_REFERENCES "Google.Protobuf_${ECAL_CSHARP_PROTOBUF_VERSION}"
 )
 
-set_property(TARGET ${PROJECT_NAME} PROPERTY FOLDER samples/csharp/pubsub/protobuf)
+set_property(TARGET ${PROJECT_NAME} PROPERTY FOLDER samples/csharp/protobuf)

samples/csharp/pubsub/protobuf/person_rec/CMakeLists.txt → lang/csharp/Continental.eCAL.Protobuf.Samples/CMakeLists.txt

@@ -21,21 +21,22 @@ project(person_rec_cs LANGUAGES CSharp)
 
 find_package(eCAL REQUIRED)
 
-set(person_rec_cs_src
-    person_rec.cs
-)
-
-ecal_add_sample(${PROJECT_NAME} ${person_rec_cs_src})
-
-target_link_libraries(${PROJECT_NAME} Continental.eCAL.Protobuf person_protobufs_cs)
-
-set_target_properties(${PROJECT_NAME} PROPERTIES
-    VS_GLOBAL_ROOTNAMESPACE ${PROJECT_NAME}
+macro(ecal_add_csharp_protobuf_sample sample_name)
+  ecal_add_sample(${sample_name} ${sample_name}.cs)
+  target_link_libraries(${sample_name} Continental.eCAL.Protobuf Continental.eCAL.Protobuf.Person)
+  set_property(TARGET ${sample_name} PROPERTY FOLDER samples/csharp/protobuf)
+
+  set_target_properties(${sample_name} PROPERTIES
+    VS_GLOBAL_ROOTNAMESPACE ${sample_name}
     VS_DOTNET_TARGET_FRAMEWORK_VERSION "v4.6.1"
-)
+  )
+
+  set_property(TARGET ${sample_name}  PROPERTY
+    VS_PACKAGE_REFERENCES "Google.Protobuf_${ECAL_CSHARP_PROTOBUF_VERSION}"
+  )
+endmacro()
 
-set_property(TARGET ${PROJECT_NAME}  PROPERTY
-  VS_PACKAGE_REFERENCES "Google.Protobuf_${ECAL_CSHARP_PROTOBUF_VERSION}"
-)
+ecal_add_csharp_protobuf_sample(pubsub_person_rec)
+ecal_add_csharp_protobuf_sample(pubsub_person_rec_cb)
+ecal_add_csharp_protobuf_sample(pubsub_person_snd)
 
-set_property(TARGET ${PROJECT_NAME} PROPERTY FOLDER samples/csharp/pubsub/protobuf)

lang/csharp/Continental.eCAL.Protobuf.Test/CMakeLists.txt

@@ -0,0 +1,51 @@
+# ========================= eCAL 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.
+#
+# ========================= eCAL LICENSE =================================
+
+include(CSharpUtilities)
+project(Continental.eCAL.Protobuf.Test LANGUAGES CSharp)
+
+add_library(${PROJECT_NAME} SHARED)
+
+target_sources(${PROJECT_NAME}
+  PRIVATE
+    test.cs
+)
+
+target_link_libraries(${PROJECT_NAME} Continental.eCAL.Protobuf Continental.eCAL.Protobuf.Person)
+
+set_target_properties(${PROJECT_NAME} PROPERTIES
+  VS_GLOBAL_ROOTNAMESPACE ${PROJECT_NAME}
+  VS_DOTNET_TARGET_FRAMEWORK_VERSION "v4.6.1"
+  # mark this is a unit testing project, see https://cmake.org/cmake/help/latest/prop_tgt/VS_GLOBAL_PROJECT_TYPES.html
+  VS_GLOBAL_PROJECT_TYPES "{3AC096D0-A1C2-E12C-1390-A8335801FDAB};{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}"
+)
+
+set_property(TARGET ${PROJECT_NAME}  PROPERTY
+  VS_PACKAGE_REFERENCES 
+    "Google.Protobuf_${ECAL_CSHARP_PROTOBUF_VERSION};MSTest.TestFramework_2.2.10;MSTest.TestAdapter_2.2.10"
+)
+
+install(TARGETS ${PROJECT_NAME}
+    # IMPORTANT: Add the library to the "export-set"
+    EXPORT eCALTargets
+    RUNTIME DESTINATION "${INSTALL_BIN_DIR}" COMPONENT runtime
+    LIBRARY DESTINATION "${INSTALL_LIB_DIR}" COMPONENT sdk
+    PUBLIC_HEADER DESTINATION "${INSTALL_INCLUDE_DIR}/ecal" COMPONENT sdk
+)
+
+set_property(TARGET ${PROJECT_NAME} PROPERTY FOLDER tests/csharp)

lang/csharp/Continental.eCAL.Protobuf.Test/test.cs

@@ -0,0 +1,96 @@
+/* ========================= eCAL 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.
+ *
+ * ========================= eCAL LICENSE =================================
+*/
+
+using System;
+using Continental.eCAL.Core;
+
+using Microsoft.VisualStudio.TestTools.UnitTesting;
+using System.Threading.Tasks;
+
+
+[TestClass]
+public class ProtobufTest
+{
+  [TestInitialize]
+  public void Initialize()
+  {
+    Util.Initialize("Person Test C#");
+    Util.EnableLoopback(true);
+  }
+
+  [TestCleanup]
+  public void Cleanup()
+  {
+    Util.Terminate();
+  }
+
+  // This test ensures that 0  values which are not present on the wire, are still deserialized correctly. (#1593)
+  [TestMethod]
+  public void PublishSubscribeTest()
+  {
+    // Publisher
+    var publisher = new ProtobufPublisher<Pb.People.Person>("example_topic");
+    var subscriber = new ProtobufSubscriber<Pb.People.Person>("example_topic");
+
+    var person0 = new Pb.People.Person
+    {
+      Id = 0,
+      Email = "[email protected]",
+      Name = "Max",
+      Stype = Pb.People.Person.Types.SType.Female,
+      Dog = new Pb.Animal.Dog { Name = "Brandy" },
+      House = new Pb.Environment.House { Rooms = 4 }
+    };
+
+    var person1 = new Pb.People.Person
+    {
+      Id = 1,
+      Email = "[email protected]",
+      Name = "Max",
+      Stype = Pb.People.Person.Types.SType.Female,
+      Dog = new Pb.Animal.Dog { Name = "Brandy" },
+      House = new Pb.Environment.House { Rooms = 4 }
+    };
+
+    Task.Delay(2000).Wait();
+
+    {
+      publisher.Send(person0);
+      var person_rec_0 = subscriber.Receive(100);
+      Assert.IsNotNull(person_rec_0);
+      Assert.IsTrue(person0.Id == person_rec_0.data.Id);
+    }
+
+    {
+      publisher.Send(person1);
+      var person_rec_1 = subscriber.Receive(100);
+      Assert.IsNotNull(person_rec_1);
+      Assert.IsTrue(person1.Id == person_rec_1.data.Id);
+    }
+
+    {
+      publisher.Send(person0);
+      var person_rec_0 = subscriber.Receive(100);
+      Assert.IsNotNull(person_rec_0);
+      Assert.IsTrue(person0.Id == person_rec_0.data.Id);
+    }
+  }
+}
+
+