First implementation for eCAL Core with nanobind.

ecal/core/CMakeLists.txt

@@ -605,9 +605,7 @@ set(ECAL_CORE_FEATURES
 foreach(CORE_FEATURE ${ECAL_CORE_FEATURES})
   if(${CORE_FEATURE})
     target_compile_definitions(${PROJECT_NAME}
-      PRIVATE ${CORE_FEATURE})
-    target_compile_definitions(${PROJECT_NAME}_c
-      PRIVATE ${CORE_FEATURE})
+      PUBLIC ${CORE_FEATURE})
   endif()
 endforeach()
 

ecal/core/src/pubsub/ecal_publisher.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.

lang/python/CMakeLists.txt

@@ -40,7 +40,7 @@ set(CMAKE_BUILD_WITH_INSTALL_RPATH "ON")
 add_subdirectory(core)
 add_dependencies(${PROJECT_NAME} _ecal_core_py)
 
-add_subdirectory(nanobind_core)
+add_subdirectory(nanobind_core/src)
 add_dependencies(${PROJECT_NAME} nanobind_core)
 
 if(HAS_HDF5)

lang/python/nanobind_core/samples/minimal_client.py

@@ -0,0 +1,69 @@
+# ========================= 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 =================================
+
+from pickle import TRUE
+import sys
+import time
+
+import nanobind_core as ecal_core
+
+  # define the client response callback to catch server responses
+def client_resp_callback(service_info, response):
+    if (service_info["call_state"] == "call_state_executed"):
+        print("'DemoService' method '{}' responded : '{}'".format(service_info["method_name"], response))
+        print()
+    else:
+        print("server {} response failed, error : '{}'".format(service_info["host_name"], service_info["error_msg"]))
+        print()
+
+def main():
+  # print eCAL version and date
+  print("eCAL {} ({})\n".format(ecal_core.get_version_string(), ecal_core.get_version_date()))
+
+  # initialize eCAL API
+  ecal_core.initialize()
+
+  # create a client for the "DemoService" service
+  client = ecal_core.ServiceClient("DemoService")
+
+  # and add it to the client
+  client.add_response_callback(client_resp_callback)
+
+  # idle and call service methods
+  i = 0
+  while(ecal_core.ok()):
+    i = i + 1
+    # call foo
+    request = bytes("hello foo {}".format(i), "ascii")
+    print("'DemoService' method 'foo' requested with : {}".format(request))
+    client.call("foo", "request", 1234)
+    time.sleep(0.5)
+    # call ping
+    request = bytes("ping number {}".format(i), "ascii")
+    print("'DemoService' method 'ping' requested with : {}".format(request))
+    client.call("ping", "request", 1234)
+    time.sleep(0.5)
+
+  # destroy client
+  client.destroy()
+
+  # finalize eCAL API
+  ecal_core.finalize()
+
+if __name__ == "__main__":
+  main()

lang/python/nanobind_core/samples/minimal_rec.py

@@ -0,0 +1,24 @@
+import sys
+
+import nanobind_core as ecal_core
+
+def main():
+  # print eCAL version and date
+  print("eCAL {} ({})\n".format(ecal_core.get_version_string(), ecal_core.get_version_date()))
+
+  # initialize eCAL API
+  ecal_core.initialize()
+
+  # create subscriber
+  sub = ecal_core.Subscriber("Hello")
+
+  # receive messages
+  while ecal_core.ok():
+    msg = sub.receive(1234)
+    print("Received:  {} ".format(msg))
+
+  # finalize eCAL API
+  ecal_core.finalize()
+
+if __name__ == "__main__":
+  main()

lang/python/nanobind_core/samples/minimal_rec_cb.py

@@ -0,0 +1,48 @@
+# ========================= 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 =================================
+
+import sys
+import time
+
+import nanobind_core as ecal_core
+
+# eCAL receive callback
+def callback(topic_name, msg, time):
+  print("Received:  {} ms   {}".format(time, msg))
+
+def main():
+  # print eCAL version and date
+  print("eCAL {} ({})\n".format(ecal_core.get_version_string(), ecal_core.get_version_date()))
+
+  # initialize eCAL API
+  ecal_core.initialize()
+
+  # create subscriber and connect callback
+  sub = ecal_core.Subscriber("Hello")
+  sub.add_receive_callback(callback)
+
+  # idle main thread
+  while ecal_core.ok():
+    time.sleep(0.1)
+
+  # finalize eCAL API
+  ecal_core.finalize()
+
+if __name__ == "__main__":
+  main()
+

lang/python/nanobind_core/samples/minimal_server.py

@@ -0,0 +1,66 @@
+# ========================= 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 =================================
+
+import sys
+import time
+
+import nanobind_core as ecal_core
+
+# define the server method "foo" function
+def foo_req_callback(method_name, req_type, resp_type, request):
+    print("'DemoService' method '{}' called with {}".format(method_name, request))
+    #return True #, bytes("thank you for calling foo :-)", "ascii")
+    return 0, "pong"
+
+# define the server method "ping" function
+def ping_req_callback(method_name, req_type, resp_type, request):
+    print("'DemoService' method '{}' called with {}".format(method_name, request))
+    return 0, bytes("pong", "ascii")
+
+def main():
+  # print eCAL version and date
+  print("eCAL {} ({})\n".format(ecal_core.get_version_string(), ecal_core.get_version_date()))
+
+  # initialize eCAL API
+  ecal_core.initialize()
+
+  # initialize eCAL API
+ #  ecal_core.initialize(sys.argv, "py_minimal_service_server")
+
+  # set process state
+ #  ecal_core.set_process_state(1, 1, "I feel good")
+
+  # create a server for the "DemoService" service
+  server = ecal_core.ServiceServer("DemoService")
+
+  # define the server methods and connect them to the callbacks
+  server.add_method_callback("foo",  "string",    "string",    foo_req_callback)
+  server.add_method_callback("ping", "ping_type", "pong_type", ping_req_callback)
+
+  # idle
+  while(ecal_core.ok()):
+    time.sleep(1.0)
+
+  # destroy server
+  server.destroy()
+
+  # finalize eCAL API
+  server.finalize()
+
+if __name__ == "__main__":
+  main()

lang/python/nanobind_core/samples/minimal_snd.py

@@ -0,0 +1,30 @@
+import sys
+import time
+
+import nanobind_core as ecal_core
+
+def main():
+  # print eCAL version and date
+  print("eCAL {} ({})\n".format(ecal_core.get_version_string(), ecal_core.get_version_date()))
+
+  # initialize eCAL API
+  ecal_core.initialize()
+
+  # create publisher
+  pub = ecal_core.Publisher("Hello")
+  msg = "HELLO WORLD FROM PYTHON"
+
+  # send messages
+  i = 0
+  while ecal_core.ok():
+    i = i + 1
+    current_message = "{} {:6d}".format(msg, i)
+    print("Sending: {}".format(current_message))
+    pub.send(current_message,1234)
+    time.sleep(0.5)
+
+  # finalize eCAL API
+  ecal_core.finalize()
+
+if __name__ == "__main__":
+  main()