Backport/v5.12

.github/workflows/build-windows.yml

@@ -240,18 +240,6 @@ jobs:
       shell: cmd
       working-directory: ${{ runner.workspace }}/_build/complete
 
-    - name: Build Python 3.6 Wheel
-      run: |
-        mkdir ".venv_36"
-        py -3.6 -m venv ".venv_36"
-        CALL ".venv_36\Scripts\activate.bat"
-        pip install wheel
-        cmake %GITHUB_WORKSPACE% -G "Visual Studio 16 2019" -A x64 -T v142 -DPython_FIND_VIRTUALENV=FIRST
-        cmake %GITHUB_WORKSPACE% -G "Visual Studio 16 2019" -A x64 -T v142 -DPython_FIND_VIRTUALENV=ONLY
-        cmake --build . --target create_python_wheel --config Release
-      shell: cmd
-      working-directory: ${{ runner.workspace }}/_build/complete
-
 #    - name: Build Documentation C
 #      run: cmake --build . --target documentation_c
 #      working-directory: ${{ runner.workspace }}/_build

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(" ");
     };

app/play/play_cli/src/ecal_play_cli.cpp

@@ -43,6 +43,7 @@
 #pragma warning(push)
 #pragma warning(disable: 4800 )
 #endif //_MSC_VER
+#include <cstdint> // Needed for termcolor. Currently (2023-10-26) termcolor does not include this header file, but it is needed for Ubuntu 23.10 / gcc 13.2: https://github.com/ikalnytskyi/termcolor/pull/72
 #include <termcolor/termcolor.hpp>
 #ifdef _MSC_VER
 #pragma warning(pop)

app/rec/rec_gui/src/widgets/recordermanager_widget/recorder_model.cpp

@@ -511,7 +511,7 @@ QVariant RecorderModel::data(const QModelIndex &index, int role) const
     {
       if (recorder_list_[row].recording_enabled_ && recorder_list_[row].time_error_warning_)
       {
-        return "On of the recorders appears to be out of sync!";
+        return "One of the recorders appears to be out of sync!";
       }
     }
 

app/rec/rec_server_cli/src/commands/status.cpp

@@ -38,6 +38,7 @@
   #pragma warning(disable: 4800) // disable termcolor warnings
 #endif
 
+  #include <cstdint> // Needed for termcolor. Currently (2023-10-26) termcolor does not include this header file, but it is needed for Ubuntu 23.10 / gcc 13.2: https://github.com/ikalnytskyi/termcolor/pull/72
   #include <termcolor/termcolor.hpp>
 
 #ifdef _MSC_VER

app/rec/rec_server_cli/src/commands/table_printer.cpp

@@ -30,6 +30,7 @@
   #pragma warning(disable: 4800) // disable termcolor warnings
 #endif
 
+  #include <cstdint> // Needed for termcolor. Currently (2023-10-26) termcolor does not include this header file, but it is needed for Ubuntu 23.10 / gcc 13.2: https://github.com/ikalnytskyi/termcolor/pull/72
   #include <termcolor/termcolor.hpp>
 
 #ifdef _MSC_VER

app/sys/sys_cli/src/commands/list.cpp

@@ -32,6 +32,7 @@
 #pragma warning(push)
 #pragma warning(disable: 4800) // disable termcolor warnings
 #endif
+#include <cstdint> // Needed for termcolor. Currently (2023-10-26) termcolor does not include this header file.
 #include <termcolor/termcolor.hpp>
 #ifdef _MSC_VER
 #pragma warning(pop)

contrib/ecalhdf5/src/eh5_meas_dir.cpp

@@ -95,26 +95,28 @@ bool eCAL::eh5::HDF5MeasDir::Open(const std::string& path, eAccessType access /*
 
 bool eCAL::eh5::HDF5MeasDir::Close()
 {
+  bool successfully_closed{ true };
+
   if (access_ == eAccessType::CREATE)
   {
     // Close all existing file writers
     for (auto& file_writer : file_writers_)
     {
-      file_writer.second->Close();
+      successfully_closed &= file_writer.second->Close();
     }
 
     // Clear the list of all file writers, which will delete them
     file_writers_.clear();
 
-    return true;
+    return successfully_closed;
   }
   else
   {
     for (auto file : file_readers_)
     {
       if (file != nullptr)
       {
-        file->Close();
+        successfully_closed &= file->Close();
         delete file;
         file = nullptr;
       }
@@ -125,7 +127,7 @@ bool eCAL::eh5::HDF5MeasDir::Close()
     entries_by_id_.clear();
     entries_by_chn_.clear();
 
-    return true;
+    return successfully_closed;
   }
 }
 

contrib/ecalhdf5/src/eh5_meas_file_v2.cpp

@@ -294,13 +294,15 @@ bool eCAL::eh5::HDF5MeasFileV2::GetEntryData(long long entry_id, void* data) con
 
   auto size = H5Dget_storage_size(dataset_id);
 
-  if (size <= 0) return false;
-
-  auto readStatus = H5Dread(dataset_id, H5T_NATIVE_UCHAR, H5S_ALL, H5S_ALL, H5P_DEFAULT, data);
+  herr_t read_status = -1;
+  if (size >= 0)
+  {
+    read_status = H5Dread(dataset_id, H5T_NATIVE_UCHAR, H5S_ALL, H5S_ALL, H5P_DEFAULT, data);
+  }
 
   H5Dclose(dataset_id);
 
-  return (readStatus >= 0);
+  return (read_status >= 0);
 }
 
 

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

@@ -1,4 +1,4 @@
-.. include:: /include.txt
+.. include:: /include.txt
 
 .. _ecal_in_docker:
 
@@ -186,4 +186,81 @@ Run the docker containers
      .. code-block:: bash
 
         sudo docker-compose build
-        sudo docker-compose up
+        sudo docker-compose up
+
+Seamless IPC-Communication across host borders
+----------------------------------------------
+
+.. important::
+   This will work with eCAL 5.12 and higher.
+   Older versions lack the ability to utilize the ``host_group_name`` in the :file:`ecal.ini` file, thus it won't work.
+
+
+In eCAL, you are able to set host belonging over network borders by utilizing the :file:`ecal.ini` configuration file with the same ``host_group_name`` - in the following steps, you will learn how to set this up.
+
+.. note::
+    If we don't set the same ``host_group_name`` on our Host and our Containers, an IPC-Communication across host borders is not available with different host names.
+
+#. To encapsulate your container network from your host network, you need to create a new docker network with the following command:
+
+   .. code-block:: bash
+
+      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
+
+   * You will use our previously discussed :ref:`ecal-runtime-image<ecal_in_docker>` for the next step.
+
+   * First, open :file:`/etc/ecal/ecal.ini` from your preferred editor.
+
+   * Search for the line ``network_enabled`` and set it to ``true``.
+
+   * Search for the line ``host_group_name`` and write your preferred name.
+
+   * Save and close the :file:`ecal.ini` file.
+
+   * Now your :file:`ecal.ini` file is prepared.
+     We want to use it not only for our Host-System but also for our Container, so we don't need to edit the :file:`ecal.ini` in our Container again.
+     To achieve that, run following command to start your container:
+
+   .. code-block:: bash
+
+      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.
+
+   - Now your Container is prepared and configured correctly, so we are ready to start an eCAL example.
+
+   .. code-block:: bash
+
+      ecal_sample_person_snd
+
+
+#. Configure the Host network
+
+   - eCAL is sending UDP messages to a multicast IP group ``239.0.0.0/24``, further information in :ref:`Getting Started Section <getting_started_cloud_ubuntu_routes>`. 
+     The idea is now, to successfully receive those messages from your previously started container on your host.
+     For that, you need to add a route to your routing table.
+     By typing ``ifconfig`` in your shell, you can identify the right docker network.
+     In our case, the prefix of the docker network is always ``br`` followed by random numbers. 
+     After identifying the right network, run following command.
+
+   .. code-block:: bash
+
+      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
+
+      sudo nano /etc/hosts
+
+   .. image:: img_documentation/vscode_etc_hosts.png
+
+When you are done, all eCAL nodes can communicate seamlessly from docker to the host and vice versa.

doc/rst/advanced/layers/shm.rst

@@ -40,7 +40,7 @@ Communication phase (default configuration):
 * The subscribers close the memory file and release the access-mutex.
 
 
-To support one to many publisher/subscriber connections the publisher creates in fact one named update event per connection.
+To support one to many publisher/subscriber connections, the publisher creates one named update event per connection.
 
 .. note::
 
@@ -92,73 +92,41 @@ Finally that means the publishers ``CPublisher::Send`` API function call is now
 Zero Copy mode (optional)
 -------------------------
 
-*Zero-copy has been added in eCAL 5.10. It is turned off by default. When turned on, old eCAL Version can still receive the data but will not use zero-copy.**
-
-The “normal” eCAL Shared memory communication results in the payload being copied at least twice:
-
-1. Into the SHM file by the publisher
-
-2. From the SHM file the private memory of each subscriber
-
-Usually there is no issue with that.
-Copying the payload from the memory file before executing the subscriber callback results in better decoupling, so the publisher can update the memory file with the next message while the subscriber is still processing the last one.
-Small messages will be transmitted in a few microseconds and will not benefit from zero-copy.
-
-If it comes to very large messages (e.g. high resolution images) however, copying really matters and it can make sense to activate eCAL's zero-copy mode.
-With zero-copy, the communication would look like this:
-
-1. The publisher still has to copy the data into the memory file.
-
-2. The subscriber executes its callback directly on the memory file.
-   The memory file is blocked, while being used.
-
-   .. warning::
-
-      The memory file is blocked for new publications as long as the user’s callback is processing its content.
-      It will also block other subscribers from reading the same SHM file.
-
-3. The subscriber releases the memory file, so the publisher can update it again.
-
 .. note::
 
-   Even though it is called zero-copy, only the subscribers are zero-copy.
-   Publishers still have to copy the data into the memory file, as they have to also support other layers like UDP or TCP and therefore cannot directly work on the memory file.
+   Zero-copy has been added in eCAL 5.10 for subscription and in 5.12 for publishing.
+   It is turned off by default.
+   When turned on, old eCAL Versions can still receive the data but will not use zero-copy.
 
-Zero-copy can be enabled in the following ways:
+The "normal" eCAL Shared memory communication results in the payload being copied at least twice:
 
-- **Use zero-copy as system-default (not recommended!):**
-
-  Activating zero copy system-wide is not recommended because of the mentioned disadvantages for small payloads.
-  But if this is wanted for reasons it can be done by adapting your :file:`ecal.ini` like this.
-
-  .. code-block:: ini
-
-     [publisher]
-     memfile_zero_copy = 1
+1. Into the SHM file by the publisher
 
-- **Use zero-copy for a single publisher (from your code):**
+2. From the SHM file the private memory of each subscriber
 
-  Zero copy could be activated either per connection or for a complete system using the eCAL configuration file.
-  To activate it for a specific publisher this ``CPublisher`` `API function <https://eclipse-ecal.github.io/ecal/_api/classeCAL_1_1CPublisher.html#_CPPv4N4eCAL10CPublisher17ShmEnableZeroCopyEb>`_ needs to be called.
+Copying the payload from the memory file before executing the subscriber callback results in **better decoupling**, so the publisher can update the memory file with the next message while the subscriber is still processing the last one.
+**Small messages** will be transmitted in a few microseconds and will not benefit from zero-copy.
 
-  .. code-block:: cpp
+If it comes to very **large messages** (e.g. high resolution images) however, copying really matters and it can make sense to activate eCAL's **zero-copy mode**.
 
-     // Create a publisher (topic name "person")
-     eCAL::protobuf::CPublisher<pb::People::Person> pub("person");
+.. seealso:: 
 
-     // Enable zero-copy for this publisher
-     pub.ShmEnableZeroCopy(true);
+   Check out the following Chapter to learn how to enable zero-copy.
+   The chapter will also teach you about advantages and disadvantages of zero-copy:
 
-.. note::
+   .. toctree:: 
+      :maxdepth: 1
 
-   In general, it is advisable to combine zero-copy with multi-buffering to reduce the impact on the publisher.
+      shm_zerocopy.rst
 
 Multi-buffering mode (optional)
 -------------------------------
 
-*Multi-buffering has been added in eCAL 5.10.
-Multi-buffered topics cannot be received by older eCAL versions.
-The feature is turned off by default.*
+.. note:: 
+
+   Multi-buffering has been added in eCAL 5.10.
+   Multi-buffered topics cannot be received by older eCAL versions.
+   The feature is turned off by default.
 
 As described in the previous sections, eCAL uses one shared memory file per publisher. This can lead to performance reduction if
 
@@ -199,3 +167,4 @@ You can activate the feature in the following ways.
      pub.ShmSetBufferCount(3);
 
 Combining the zero-copy feature with an increased number of memory buffer files (like 2 or 3) could be a nice setup allowing the subscriber to work on the memory file content without copying its content and nevertheless not blocking the publisher to write new data.
+Using Multibuffering however will force each Send operation to re-write the entire memory file and disable partial updates.