Merge branch 'master' into feature/ecaludp-core-integration

eclipse-ecal · Apr 17, 2024 · c9b20f2 · c9b20f2
2 parents c6ac663 + 09f56b3
commit c9b20f2
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Showing 65 changed files with 267 additions and 746 deletions.
diff --git a/.github/workflows/build-macos.yml b/.github/workflows/build-macos.yml
@@ -25,7 +25,7 @@ jobs:
         target: 'desktop'
 
     - name: Install Dependencies
-      run: brew install ninja doxygen graphviz protobuf@21 [email protected] pkg-config
+      run: brew install ninja doxygen graphviz protobuf [email protected] pkg-config
 
     - name: Install Cap’n Proto
       run: |
@@ -86,7 +86,7 @@ jobs:
         -DECAL_THIRDPARTY_BUILD_QWT=ON \
         -DECAL_THIRDPARTY_BUILD_YAML-CPP=ON \
         -DCMAKE_BUILD_TYPE=Release \
-        -DCMAKE_PREFIX_PATH="/usr/local/opt/[email protected]:/usr/local/opt/protobuf@21" \
+        -DCMAKE_PREFIX_PATH=/usr/local/opt/[email protected] \
         -DCMAKE_CXX_STANDARD=17 \
         -DCMAKE_FIND_PACKAGE_PREFER_CONFIG=ON \
         -DPython_FIND_STRATEGY=LOCATION \

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -233,11 +233,6 @@ if(WIN32)
   set(CMAKE_RELWITHDEBINFO_POSTFIX   reldbg)
 endif()
 
-# --------------------------------------------------------
-# protobuf utilities
-# --------------------------------------------------------
-add_subdirectory(contrib/ecalproto)
-
 # --------------------------------------------------------
 # ecal app protobuf interface
 # --------------------------------------------------------

diff --git a/app/mon/mon_cli/CMakeLists.txt b/app/mon/mon_cli/CMakeLists.txt
@@ -42,9 +42,8 @@ target_compile_definitions(${PROJECT_NAME}
 create_targets_protobuf()
 
 target_link_libraries(${PROJECT_NAME}
-  protobuf::libprotobuf
   tclap::tclap
-  eCAL::core
+  eCAL::core_protobuf
   eCAL::core_pb)
 target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_14) 
 

diff --git a/app/mon/mon_plugins/protobuf_reflection/CMakeLists.txt b/app/mon/mon_plugins/protobuf_reflection/CMakeLists.txt
@@ -63,8 +63,7 @@ create_targets_protobuf()
 target_link_libraries (${PROJECT_NAME}
   Qt${QT_VERSION_MAJOR}::Core
   Qt${QT_VERSION_MAJOR}::Widgets
-  eCAL::core
-  eCAL::proto
+  eCAL::core_protobuf
   eCAL::app_pb
   protobuf::libprotobuf
   MonitorTreeView

diff --git a/app/mon/mon_plugins/protobuf_reflection/src/plugin_widget.h b/app/mon/mon_plugins/protobuf_reflection/src/plugin_widget.h
@@ -32,7 +32,7 @@
 
 #include "ui_plugin_widget.h"
 
-#include <ecal/protobuf/ecal_proto_decoder.h>
+#include <ecal/msg/protobuf/ecal_proto_decoder.h>
 #include <protobuf_tree_builder.h>
 
 class PluginWidget : public QWidget, public eCAL::mon::PluginWidgetInterface

diff --git a/app/mon/mon_plugins/protobuf_reflection/src/protobuf_tree_builder.h b/app/mon/mon_plugins/protobuf_reflection/src/protobuf_tree_builder.h
@@ -22,7 +22,7 @@
 #include <google/protobuf/message.h>
 #include "monitor_tree_model.h"
 
-#include <ecal/protobuf/ecal_proto_visitor.h>
+#include <ecal/msg/protobuf/ecal_proto_visitor.h>
 #include <stack>
 
 class ProtobufTreeBuilder : public eCAL::protobuf::MessageVisitor

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

diff --git a/app/mon/mon_plugins/signals_plotting/src/plugin_widget.h b/app/mon/mon_plugins/signals_plotting/src/plugin_widget.h
@@ -46,7 +46,7 @@
 
 #include "ui_plugin_widget.h"
 
-#include <ecal/protobuf/ecal_proto_decoder.h>
+#include <ecal/msg/protobuf/ecal_proto_decoder.h>
 #include <protobuf_tree_builder.h>
 
 class PluginWidget : public QWidget, public eCAL::mon::PluginWidgetInterface

diff --git a/app/mon/mon_plugins/signals_plotting/src/protobuf_tree_builder.h b/app/mon/mon_plugins/signals_plotting/src/protobuf_tree_builder.h
@@ -22,7 +22,7 @@
 #include <google/protobuf/message.h>
 #include "signal_tree_model.h"
 
-#include <ecal/protobuf/ecal_proto_visitor.h>
+#include <ecal/msg/protobuf/ecal_proto_visitor.h>
 #include <stack>
 
 class ProtobufTreeBuilder : public eCAL::protobuf::MessageVisitor

diff --git a/app/mon/mon_tui/CMakeLists.txt b/app/mon/mon_tui/CMakeLists.txt
@@ -118,9 +118,8 @@ create_targets_protobuf()
 target_link_libraries(${PROJECT_NAME}
   protobuf::libprotobuf
   tclap::tclap
-  eCAL::core
+  eCAL::core_protobuf
   eCAL::core_pb
-  eCAL::proto
   ftxui::screen
   ftxui::dom
   ftxui::component)

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
@@ -21,8 +21,8 @@
 #include <stack>
 
 #include <ecal/ecal.h>
-#include <ecal/protobuf/ecal_proto_visitor.h>
-#include <ecal/protobuf/ecal_proto_decoder.h>
+#include <ecal/msg/protobuf/ecal_proto_visitor.h>
+#include <ecal/msg/protobuf/ecal_proto_decoder.h>
 
 #include <google/protobuf/message.h>
 

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
@@ -26,7 +26,7 @@
 #include <ecal/msg/string/subscriber.h>
 
 #include <ecal/msg/protobuf/dynamic_subscriber.h>
-#include <ecal/protobuf/ecal_proto_decoder.h>
+#include <ecal/msg/protobuf/ecal_proto_decoder.h>
 
 #include "tui/viewmodel/message_visualization/message_visualization.hpp"
 

diff --git a/app/play/play_core/CMakeLists.txt b/app/play/play_core/CMakeLists.txt
@@ -55,7 +55,7 @@ target_link_libraries(${PROJECT_NAME} PUBLIC
   Threads::Threads
   spdlog::spdlog
   protobuf::libprotobuf
-  eCAL::core
+  eCAL::core_protobuf
   eCAL::app_pb
   eCAL::ecaltime_pb
   eCAL::measurement_hdf5

diff --git a/app/rec/rec_client_core/CMakeLists.txt b/app/rec/rec_client_core/CMakeLists.txt
@@ -94,7 +94,7 @@ target_link_libraries(${PROJECT_NAME}
 target_link_libraries(${PROJECT_NAME}
   PUBLIC
     protobuf::libprotobuf
-    eCAL::core
+    eCAL::core_protobuf
     eCAL::core_pb
     eCAL::app_pb
   PRIVATE

diff --git a/app/rec/rec_server_core/CMakeLists.txt b/app/rec/rec_server_core/CMakeLists.txt
@@ -68,7 +68,7 @@ target_link_libraries(${PROJECT_NAME}
     PRIVATE
     tinyxml2::tinyxml2
     protobuf::libprotobuf
-    eCAL::core
+    eCAL::core_protobuf
     eCAL::app_pb
     ThreadingUtils
     Threads::Threads

diff --git a/app/sys/sys_client_cli/CMakeLists.txt b/app/sys/sys_client_cli/CMakeLists.txt
@@ -43,7 +43,7 @@ target_link_libraries(${PROJECT_NAME}
   spdlog::spdlog
   tclap::tclap
   protobuf::libprotobuf
-  eCAL::core
+  eCAL::core_protobuf
   eCAL::core_pb
   eCAL::app_pb
   eCAL::sys_client_core

diff --git a/app/sys/sys_core/CMakeLists.txt b/app/sys/sys_core/CMakeLists.txt
@@ -91,7 +91,7 @@ target_link_libraries(${PROJECT_NAME}
   tinyxml2::tinyxml2
   spdlog::spdlog
   protobuf::libprotobuf
-  eCAL::core
+  eCAL::core_protobuf
   eCAL::core_pb
   eCAL::app_pb
   EcalParser

diff --git a/contrib/ecaltime/simtime/CMakeLists.txt b/contrib/ecaltime/simtime/CMakeLists.txt
@@ -45,7 +45,7 @@ ecal_add_time_plugin(${PROJECT_NAME} SHARED ${ecal_time_simtime_src} ${ecal_time
 
 target_compile_definitions(${PROJECT_NAME} PRIVATE ECAL_TIME_PLUGIN_API_EXPORT)
 
-target_link_libraries(${PROJECT_NAME} PRIVATE eCAL::core)
+target_link_libraries(${PROJECT_NAME} PRIVATE eCAL::core_protobuf)
 target_link_libraries(${PROJECT_NAME} PRIVATE eCAL::ecaltime_pb)
 
 target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_14)

diff --git a/contrib/message/include/ecal/msg/proto/message.h b/contrib/message/include/ecal/msg/proto/message.h
@@ -28,7 +28,7 @@
 #pragma warning(pop)
 #endif
 
-#include <ecal/protobuf/ecal_proto_hlp.h>
+#include <ecal/msg/protobuf/ecal_proto_hlp.h>
 #include <ecal/msg/message.h>
 
 namespace eCAL

diff --git a/contrib/mma/CMakeLists.txt b/contrib/mma/CMakeLists.txt
@@ -81,9 +81,9 @@ target_include_directories(${PROJECT_NAME}
 create_targets_protobuf()
 
 target_link_libraries(${PROJECT_NAME}
-  protobuf::libprotobuf
   Threads::Threads
-  eCAL::core eCAL::app_pb
+  eCAL::core_protobuf
+  eCAL::app_pb
   $<$<BOOL:${WIN32}>:Pdh>
   $<$<BOOL:${WIN32}>:wbemuuid.lib>)
 

diff --git a/doc/requirements.txt b/doc/requirements.txt
@@ -1,4 +1,5 @@
 wheel
+sphinx<7.3
 sphinx-book-theme==1.1.2
 sphinx-tabs==3.4.5
 PyGithub

diff --git a/ecal/CMakeLists.txt b/ecal/CMakeLists.txt
@@ -24,6 +24,7 @@ cmake_minimum_required(VERSION 3.13)
 add_subdirectory(core)
 
 if(ECAL_CORE_HAS_PROTOBUF)
+  add_subdirectory(msg/protobuf)
   add_subdirectory(core_pb)
 endif()
 

diff --git a/ecal/core/CMakeLists.txt b/ecal/core/CMakeLists.txt
@@ -495,8 +495,6 @@ set(ecal_header_msg
     include/ecal/msg/protobuf/client.h
     include/ecal/msg/protobuf/dynamic_publisher.h
     include/ecal/msg/protobuf/dynamic_subscriber.h    
-    include/ecal/msg/protobuf/ecal_proto_dyn.h
-    include/ecal/msg/protobuf/ecal_proto_hlp.h
     include/ecal/msg/protobuf/publisher.h
     include/ecal/msg/protobuf/server.h
     include/ecal/msg/protobuf/subscriber.h
@@ -702,3 +700,22 @@ if(UNIX)
 
     set_property(TARGET ${PROJECT_NAME_PROCESS_STUB} PROPERTY FOLDER core)
 endif(UNIX)
+
+if(ECAL_CORE_HAS_PROTOBUF)
+find_package(Protobuf REQUIRED)
+
+add_library(core_protobuf INTERFACE)
+add_library(eCAL::core_protobuf ALIAS core_protobuf)
+
+target_link_libraries(core_protobuf 
+  INTERFACE
+    eCAL::core
+    eCAL::proto
+)
+
+install(
+  TARGETS core_protobuf
+  EXPORT eCALCoreTargets  
+)
+
+endif()
diff --git a/ecal/core/include/ecal/msg/protobuf/dynamic_json_subscriber.h b/ecal/core/include/ecal/msg/protobuf/dynamic_json_subscriber.h
@@ -41,6 +41,7 @@
 #pragma GCC diagnostic push
 #pragma GCC diagnostic ignored "-Wunused-parameter"
 #endif
+#include <google/protobuf/stubs/common.h>
 #include <google/protobuf/util/json_util.h>
 #include <google/protobuf/util/type_resolver_util.h>
 #include <google/protobuf/util/type_resolver.h>
@@ -244,7 +245,11 @@ namespace eCAL
       {
 
         google::protobuf::util::JsonOptions options;
+#if GOOGLE_PROTOBUF_VERSION >= 5026000
+        options.always_print_fields_with_no_presence = true;
+#else
         options.always_print_primitive_fields = true;
+#endif
 
         std::string binary_input;
         binary_input.assign(static_cast<char*>(data_->buf), static_cast<size_t>(data_->size));