Merge branch 'master' of https://github.com/eclipse-ecal/ecal into fe…

…ature/server-client-protocol-version-2

.github/workflows/build-windows.yml

@@ -485,5 +485,5 @@ jobs:
       if: env.IS_DOWNLOAD_AVAILABLE == 'true'
       uses: actions/upload-artifact@v3
       with:
-        name: windows-setup-eclipse
+        name: windows-setup-signed
         path: ${{ runner.workspace }}/_build/complete/_deploy/${{ env.ASSET_NAME }}

app/mon/mon_tui/CMakeLists.txt

@@ -108,7 +108,10 @@ target_include_directories(${PROJECT_NAME}
   PRIVATE $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/src>)
 
 target_compile_definitions(${PROJECT_NAME}
-  PRIVATE $<$<BOOL:${MSVC}>:PCRE_STATIC;_UNICODE>)
+  PRIVATE 
+    $<$<BOOL:${MSVC}>:PCRE_STATIC;_UNICODE>
+    FTXUI_VERSION_MAJOR=${ftxui_VERSION_MAJOR}
+  )
 
 create_targets_protobuf()
 

app/mon/mon_tui/src/tui/style_sheet.hpp

@@ -100,7 +100,12 @@ struct StyleSheet
         default: return nothing;
       }
     };
-    sheet.tab.entries.transform = [](EntryState state)
+#if FTXUI_VERSION_MAJOR >= 5
+    sheet.tab.entries_option.transform =
+#else
+    sheet.tab.entries.transform =
+#endif
+      [](EntryState state)
     {
       if(state.active)
       {
@@ -110,7 +115,11 @@ struct StyleSheet
       }
       return text(state.label);
     };
+#if FTXUI_VERSION_MAJOR >= 5
+    sheet.tab.direction = Direction::Right;
+#else
     sheet.tab.direction = MenuOption::Right;
+#endif
     sheet.tab.elements_prefix = [] {
       return text(" ");
     };
@@ -202,14 +211,23 @@ struct StyleSheet
         default: return nothing;
       }
     };
-    sheet.tab.entries.transform = [](EntryState state) {
+#if FTXUI_VERSION_MAJOR >= 5
+    sheet.tab.entries_option.transform = 
+#else
+    sheet.tab.entries.transform =
+#endif
+    [](EntryState state) {
       if(state.active)
       {
         return text(state.label) | inverted;
       }
       return text(state.label);
     };
+#if FTXUI_VERSION_MAJOR >= 5
+    sheet.tab.direction = Direction::Right;
+#else
     sheet.tab.direction = MenuOption::Right;
+#endif
     sheet.tab.elements_prefix = [] {
       return text(" ");
     };

doc/requirements.txt

@@ -7,6 +7,6 @@ empy
 semantic-version 
 exhale
 Jinja2
-sphinxcontrib-youtube
+sphinxcontrib-youtube<=1.2
 sphinxcontrib-apidoc
 

doc/rst/advanced/ecal_in_docker.rst

@@ -205,7 +205,7 @@ In eCAL, you are able to set host belonging over network borders by utilizing th
 
    .. code-block:: bash
 
-      sudo docker network create --driver=bridge --subnet=192.100.0.0/24 my_network
+      sudo docker network create --driver=bridge --subnet=10.0.10.0/24 my_network
 
 #. Edit your :file:`ecal.ini` and run your Container within the newly created docker network
 
@@ -225,7 +225,7 @@ In eCAL, you are able to set host belonging over network borders by utilizing th
 
    .. code-block:: bash
 
-      sudo docker run --rm -it --ipc=host --pid=host --network=my_network --name=container1 --h=container1 --ip=192.168.100.2 -v /etc/ecal/ecal.ini:/etc/ecal/ecal.ini ecal-runtime
+      sudo docker run --rm -it --ipc=host --pid=host --network=my_network --name=container1 -h=container1 --ip=10.0.10.10 -v /etc/ecal/ecal.ini:/etc/ecal/ecal.ini ecal-runtime
 
    - You should now be inside the root shell of your Container.
      Check if your :file:`ecal.ini` file is correct.
@@ -250,6 +250,11 @@ In eCAL, you are able to set host belonging over network borders by utilizing th
 
       sudo ip route add 239.0.0.0/24 dev <br-xxx> metric 1
 
+   - Review your network configuration. Your eCAL-Monitor should resemble this example:
+
+   .. image:: img_documentation/doku_ecal_docker_mon.png
+
+
 #. (optional) After adding the route, you register the Container with IP address and name in /etc/hosts for DNS resolution, enabling easy access to it by hostname within the network.
 
    .. code-block:: bash
@@ -258,4 +263,4 @@ In eCAL, you are able to set host belonging over network borders by utilizing th
 
    .. image:: img_documentation/vscode_etc_hosts.png
 
-After all steps are done, all eCAL nodes can communicate seamlessly from docker to the host and vice versa.
+When you are done, all eCAL nodes can communicate seamlessly from docker to the host and vice versa.

ecal/core/src/pubsub/ecal_pubgate.cpp

@@ -114,9 +114,10 @@ namespace eCAL
 
     const auto& ecal_sample = ecal_sample_.topic();
     const std::string& topic_name = ecal_sample.tname();
-    const std::string& topic_id   = ecal_sample.tid();
+    CDataWriter::SLocalSubscriptionInfo subscription_info;
+    subscription_info.topic_id = ecal_sample.tid();
+    subscription_info.process_id = std::to_string(ecal_sample.pid());
     SDataTypeInformation topic_information{ eCALSampleToTopicInformation(ecal_sample_) };
-    const std::string  process_id = std::to_string(ecal_sample.pid());
 
     std::string reader_par;
     for (const auto& layer : ecal_sample.tlayer())
@@ -135,7 +136,7 @@ namespace eCAL
     auto res = m_topic_name_datawriter_map.equal_range(topic_name);
     for(TopicNameDataWriterMapT::const_iterator iter = res.first; iter != res.second; ++iter)
     {
-      iter->second->ApplyLocSubscription(process_id, topic_id, topic_information, reader_par);
+      iter->second->ApplyLocSubscription(subscription_info, topic_information, reader_par);
     }
   }
 
@@ -145,15 +146,16 @@ namespace eCAL
 
     const auto& ecal_sample = ecal_sample_.topic();
     const std::string& topic_name = ecal_sample.tname();
-    const std::string& topic_id   = ecal_sample.tid();
-    const std::string  process_id = std::to_string(ecal_sample.pid());
+    CDataWriter::SLocalSubscriptionInfo subscription_info;
+    subscription_info.topic_id = ecal_sample.tid();
+    subscription_info.process_id = std::to_string(ecal_sample.pid());
 
     // unregister local subscriber
     const std::shared_lock<std::shared_timed_mutex> lock(m_topic_name_datawriter_sync);
     auto res = m_topic_name_datawriter_map.equal_range(topic_name);
     for (TopicNameDataWriterMapT::const_iterator iter = res.first; iter != res.second; ++iter)
     {
-      iter->second->RemoveLocSubscription(process_id, topic_id);
+      iter->second->RemoveLocSubscription(subscription_info);
     }
   }
 
@@ -162,11 +164,12 @@ namespace eCAL
     if(!m_created) return;
 
     const auto& ecal_sample = ecal_sample_.topic();
-    const std::string& host_name  = ecal_sample.hname();
     const std::string& topic_name = ecal_sample.tname();
-    const std::string& topic_id   = ecal_sample.tid();
+    CDataWriter::SExternalSubscriptionInfo subscription_info;
+    subscription_info.host_name  = ecal_sample.hname();
+    subscription_info.topic_id   = ecal_sample.tid();
+    subscription_info.process_id = std::to_string(ecal_sample.pid());
     SDataTypeInformation topic_information{ eCALSampleToTopicInformation(ecal_sample_) };
-    const std::string  process_id = std::to_string(ecal_sample.pid());
 
     std::string reader_par;
     for (const auto& layer : ecal_sample.tlayer())
@@ -185,7 +188,7 @@ namespace eCAL
     auto res = m_topic_name_datawriter_map.equal_range(topic_name);
     for(TopicNameDataWriterMapT::const_iterator iter = res.first; iter != res.second; ++iter)
     {
-      iter->second->ApplyExtSubscription(host_name, process_id, topic_id, topic_information, reader_par);
+      iter->second->ApplyExtSubscription(subscription_info, topic_information, reader_par);
     }
   }
 
@@ -194,17 +197,18 @@ namespace eCAL
     if (!m_created) return;
 
     const auto& ecal_sample = ecal_sample_.topic();
-    const std::string& host_name  = ecal_sample.hname();
     const std::string& topic_name = ecal_sample.tname();
-    const std::string& topic_id   = ecal_sample.tid();
-    const std::string  process_id = std::to_string(ecal_sample.pid());
+    CDataWriter::SExternalSubscriptionInfo subscription_info;
+    subscription_info.host_name = ecal_sample.hname();
+    subscription_info.topic_id = ecal_sample.tid();
+    subscription_info.process_id = std::to_string(ecal_sample.pid());
 
     // unregister external subscriber
     const std::shared_lock<std::shared_timed_mutex> lock(m_topic_name_datawriter_sync);
     auto res = m_topic_name_datawriter_map.equal_range(topic_name);
     for (TopicNameDataWriterMapT::const_iterator iter = res.first; iter != res.second; ++iter)
     {
-      iter->second->RemoveExtSubscription(host_name, process_id, topic_id);
+      iter->second->RemoveExtSubscription(subscription_info);
     }
   }
 

ecal/core/src/readwrite/ecal_writer.cpp

@@ -655,83 +655,79 @@ namespace eCAL
     else         return 0;
   }
 
-  void CDataWriter::ApplyLocSubscription(const std::string& process_id_, const std::string& tid_, const SDataTypeInformation& tinfo_, const std::string& reader_par_)
+  void CDataWriter::ApplyLocSubscription(const SLocalSubscriptionInfo& local_info_, const SDataTypeInformation& tinfo_, const std::string& reader_par_)
   {
-    Connect(tid_, tinfo_);
+    Connect(local_info_.topic_id, tinfo_);
 
     // add key to local subscriber map
-    const std::string topic_key = process_id_ + tid_;
     {
       const std::lock_guard<std::mutex> lock(m_sub_map_sync);
-      m_loc_sub_map[topic_key] = true;
+      m_loc_sub_map[local_info_] = true;
     }
 
     m_loc_subscribed = true;
 
     // add a new local subscription
-    m_writer.udp_mc.AddLocConnection (process_id_, reader_par_);
-    m_writer.shm.AddLocConnection    (process_id_, reader_par_);
+    m_writer.udp_mc.AddLocConnection (local_info_.process_id, reader_par_);
+    m_writer.shm.AddLocConnection    (local_info_.process_id, reader_par_);
 
 #ifndef NDEBUG
     // log it
     Logging::Log(log_level_debug3, m_topic_name + "::CDataWriter::ApplyLocSubscription");
 #endif
   }
 
-  void CDataWriter::RemoveLocSubscription(const std::string& process_id_, const std::string& tid_)
+  void CDataWriter::RemoveLocSubscription(const SLocalSubscriptionInfo& local_info_)
   {
     // remove key from local subscriber map
-    const std::string topic_key = process_id_ + tid_;
     {
       const std::lock_guard<std::mutex> lock(m_sub_map_sync);
-      m_loc_sub_map.erase(topic_key);
+      m_loc_sub_map.erase(local_info_);
     }
 
     // remove a local subscription
-    m_writer.udp_mc.RemLocConnection (process_id_);
-    m_writer.shm.RemLocConnection    (process_id_);
+    m_writer.udp_mc.RemLocConnection (local_info_.process_id);
+    m_writer.shm.RemLocConnection    (local_info_.process_id);
 
 #ifndef NDEBUG
     // log it
     Logging::Log(log_level_debug3, m_topic_name + "::CDataWriter::RemoveLocSubscription");
 #endif
   }
 
-  void CDataWriter::ApplyExtSubscription(const std::string& host_name_, const std::string& process_id_, const std::string& tid_, const SDataTypeInformation& tinfo_, const std::string& reader_par_)
+  void CDataWriter::ApplyExtSubscription(const SExternalSubscriptionInfo& external_info_, const SDataTypeInformation& tinfo_, const std::string& reader_par_)
   {
-    Connect(tid_, tinfo_);
+    Connect(external_info_.topic_id, tinfo_);
 
     // add key to external subscriber map
-    const std::string topic_key = host_name_ + process_id_ + tid_;
     {
       const std::lock_guard<std::mutex> lock(m_sub_map_sync);
-      m_ext_sub_map[topic_key] = true;
+      m_ext_sub_map[external_info_] = true;
     }
 
     m_ext_subscribed = true;
 
     // add a new external subscription
-    m_writer.udp_mc.AddExtConnection (host_name_, process_id_, reader_par_);
-    m_writer.shm.AddExtConnection    (host_name_, process_id_, reader_par_);
+    m_writer.udp_mc.AddExtConnection (external_info_.host_name, external_info_.process_id, reader_par_);
+    m_writer.shm.AddExtConnection    (external_info_.host_name, external_info_.process_id, reader_par_);
 
 #ifndef NDEBUG
     // log it
     Logging::Log(log_level_debug3, m_topic_name + "::CDataWriter::ApplyExtSubscription");
 #endif
   }
 
-  void CDataWriter::RemoveExtSubscription(const std::string& host_name_, const std::string& process_id_, const std::string& tid_)
+  void CDataWriter::RemoveExtSubscription(const SExternalSubscriptionInfo& external_info_)
   {
     // remove key from external subscriber map
-    const std::string topic_key = host_name_ + process_id_ + tid_;
     {
       const std::lock_guard<std::mutex> lock(m_sub_map_sync);
-      m_ext_sub_map.erase(topic_key);
+      m_ext_sub_map.erase(external_info_);
     }
 
     // remove external subscription
-    m_writer.udp_mc.RemExtConnection (host_name_, process_id_);
-    m_writer.shm.RemExtConnection    (host_name_, process_id_);
+    m_writer.udp_mc.RemExtConnection (external_info_.host_name, external_info_.process_id);
+    m_writer.shm.RemExtConnection    (external_info_.host_name, external_info_.process_id);
   }
 
   void CDataWriter::RefreshRegistration()
@@ -768,7 +764,8 @@ namespace eCAL
     Register(false);
 
     // check connection timeouts
-    const std::shared_ptr<std::list<std::string>> loc_timeouts = std::make_shared<std::list<std::string>>();
+    // Todo: Why are only Local connections removed, not external connections?
+    const std::shared_ptr<std::list<SLocalSubscriptionInfo>> loc_timeouts = std::make_shared<std::list<SLocalSubscriptionInfo>>();
     {
       const std::lock_guard<std::mutex> lock(m_sub_map_sync);
       m_loc_sub_map.remove_deprecated(loc_timeouts.get());
@@ -780,7 +777,7 @@ namespace eCAL
 
     for(const auto& loc_sub : *loc_timeouts)
     {
-      m_writer.shm.RemLocConnection(loc_sub);
+      m_writer.shm.RemLocConnection(loc_sub.process_id);
     }
 
     if (!m_loc_subscribed && !m_ext_subscribed)
@@ -1275,7 +1272,7 @@ namespace eCAL
     const std::lock_guard<std::mutex> lock(m_sub_map_sync);
     for (auto sub : m_loc_sub_map)
     {
-      if (sub.first != process_id)
+      if (sub.first.process_id != process_id)
       {
         is_internal_only = false;
         break;

ecal/core/src/readwrite/ecal_writer.h

@@ -47,6 +47,31 @@ namespace eCAL
   class CDataWriter
   {
   public:
+    struct SExternalSubscriptionInfo
+    {
+      std::string host_name;
+      std::string process_id;
+      std::string topic_id;
+
+      friend bool operator<(const SExternalSubscriptionInfo& l, const SExternalSubscriptionInfo& r)
+      {
+        return std::tie(l.host_name, l.process_id, l.topic_id)
+          < std::tie(r.host_name, r.process_id, r.topic_id);
+      }
+    };
+
+    struct SLocalSubscriptionInfo
+    {
+      std::string process_id;
+      std::string topic_id;
+
+      friend bool operator<(const SLocalSubscriptionInfo& l, const SLocalSubscriptionInfo& r)
+      {
+        return std::tie(l.process_id, l.topic_id)
+          < std::tie(r.process_id, r.topic_id);
+      }
+    };
+
     CDataWriter();
     ~CDataWriter();
 
@@ -77,11 +102,11 @@ namespace eCAL
 
     size_t Write(CPayloadWriter& payload_, long long time_, long long id_);
 
-    void ApplyLocSubscription(const std::string& process_id_, const std::string& tid_, const SDataTypeInformation& tinfo_, const std::string& reader_par_);
-    void RemoveLocSubscription(const std::string & process_id_, const std::string& tid_);
+    void ApplyLocSubscription(const SLocalSubscriptionInfo& local_info_, const SDataTypeInformation& tinfo_, const std::string& reader_par_);
+    void RemoveLocSubscription(const SLocalSubscriptionInfo& local_info_);
 
-    void ApplyExtSubscription(const std::string& host_name_, const std::string& process_id_, const std::string& tid_, const SDataTypeInformation& tinfo_, const std::string& reader_par_);
-    void RemoveExtSubscription(const std::string & host_name_, const std::string & process_id_, const std::string& tid_);
+    void ApplyExtSubscription(const SExternalSubscriptionInfo& external_info_, const SDataTypeInformation& tinfo_, const std::string& reader_par_);
+    void RemoveExtSubscription(const SExternalSubscriptionInfo& external_info_);
 
     void RefreshRegistration();
     void RefreshSendCounter();
@@ -137,10 +162,12 @@ namespace eCAL
     std::vector<char>  m_payload_buffer;
 
     std::atomic<bool>  m_connected;
-    using ConnectedMapT = Util::CExpMap<std::string, bool>;
-    mutable std::mutex m_sub_map_sync;
-    ConnectedMapT      m_loc_sub_map;
-    ConnectedMapT      m_ext_sub_map;
+
+    using LocalConnectedMapT = Util::CExpMap<SLocalSubscriptionInfo, bool>;
+    using ExternalConnectedMapT = Util::CExpMap<SExternalSubscriptionInfo, bool>;
+    mutable std::mutex    m_sub_map_sync;
+    LocalConnectedMapT    m_loc_sub_map;
+    ExternalConnectedMapT m_ext_sub_map;
 
     std::mutex         m_event_callback_map_sync;
     using EventCallbackMapT = std::map<eCAL_Publisher_Event, PubEventCallbackT>;