Adapted all dynamic subscribers.

eclipse-ecal · May 14, 2024 · 2b4d506 · 2b4d506
1 parent 0b411e5
commit 2b4d506
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Showing 11 changed files with 19 additions and 28 deletions.
diff --git a/app/mon/mon_cli/CMakeLists.txt b/app/mon/mon_cli/CMakeLists.txt
@@ -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})
 

diff --git a/app/mon/mon_cli/src/ecal_mon_cli.cpp b/app/mon/mon_cli/src/ecal_mon_cli.cpp
@@ -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

diff --git a/app/mon/mon_plugins/protobuf_reflection/src/plugin_widget.cpp b/app/mon/mon_plugins/protobuf_reflection/src/plugin_widget.cpp
@@ -157,7 +157,7 @@ void PluginWidget::updatePublishTimeLabel()
 ////////////////////////////////////////////////////////////////////////////////
 
 // eCAL Callback
-void PluginWidget::onProtoMessageCallback(const std::shared_ptr<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)
 {
 
   {

diff --git a/app/mon/mon_plugins/protobuf_reflection/src/plugin_widget.h b/app/mon/mon_plugins/protobuf_reflection/src/plugin_widget.h
@@ -83,7 +83,7 @@ private slots:
   bool                               new_msg_available_;
   int                                received_message_counter_;
 
-  void onProtoMessageCallback(const std::shared_ptr<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();
 

diff --git a/app/mon/mon_plugins/signals_plotting/CMakeLists.txt b/app/mon/mon_plugins/signals_plotting/CMakeLists.txt
@@ -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" )

diff --git a/app/mon/mon_plugins/signals_plotting/src/plugin_widget.cpp b/app/mon/mon_plugins/signals_plotting/src/plugin_widget.cpp
@@ -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)));
 

diff --git a/app/mon/mon_plugins/signals_plotting/src/plugin_widget.h b/app/mon/mon_plugins/signals_plotting/src/plugin_widget.h
@@ -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);

diff --git a/app/mon/mon_tui/src/tui/view/message_visualization/proto_tree.hpp b/app/mon/mon_tui/src/tui/view/message_visualization/proto_tree.hpp
@@ -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>();

diff --git a/app/mon/mon_tui/src/tui/viewmodel/message_visualization/proto.hpp b/app/mon/mon_tui/src/tui/viewmodel/message_visualization/proto.hpp
@@ -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;
   };
 

diff --git a/ecal/core/include/ecal/msg/protobuf/client.h b/ecal/core/include/ecal/msg/protobuf/client.h
@@ -26,11 +26,8 @@
 
 #include <ecal/ecal_deprecate.h>
 #include <ecal/ecal_client.h>
-#include <ecal/msg/dynamic.h>
 #include <ecal/msg/protobuf/ecal_proto_dyn.h>
 
-
-
 // protobuf includes
 #ifdef _MSC_VER
 #pragma warning(push, 0) // disable proto warnings

diff --git a/ecal/core/include/ecal/msg/protobuf/server.h b/ecal/core/include/ecal/msg/protobuf/server.h
@@ -25,7 +25,6 @@
 #pragma once
 
 #include <ecal/ecal_server.h>
-#include <ecal/msg/dynamic.h>
 #include <ecal/msg/protobuf/ecal_proto_dyn.h>
 #include <functional>