[Core] publisher config API

ecal/core/CMakeLists.txt

@@ -222,8 +222,8 @@ if(ECAL_CORE_PUBLISHER)
   )
   if(ECAL_CORE_TRANSPORT_UDP)
     list(APPEND ecal_writer_src
-        src/readwrite/udp/ecal_writer_udp_mc.cpp
-        src/readwrite/udp/ecal_writer_udp_mc.h
+        src/readwrite/udp/ecal_writer_udp.cpp
+        src/readwrite/udp/ecal_writer_udp.h
     )
   endif()
   if(ECAL_CORE_TRANSPORT_TCP)
@@ -249,8 +249,8 @@ if(ECAL_CORE_SUBSCRIBER)
   )
   if(ECAL_CORE_TRANSPORT_UDP)
     list(APPEND ecal_reader_src
-        src/readwrite/udp/ecal_reader_udp_mc.cpp
-        src/readwrite/udp/ecal_reader_udp_mc.h
+        src/readwrite/udp/ecal_reader_udp.cpp
+        src/readwrite/udp/ecal_reader_udp.h
     )
   endif()
   if(ECAL_CORE_TRANSPORT_TCP)

ecal/core/include/ecal/cimpl/ecal_publisher_cimpl.h

@@ -89,26 +89,6 @@ extern "C"
   **/
   ECALC_API int eCAL_Pub_ClearAttribute(ECAL_HANDLE handle_, const char* attr_name_, int attr_name_len_);
 
-  /**
-   * @brief Share topic type.
-   *
-   * @param handle_ Publisher handle. 
-   * @param state_  Set type share mode (none zero == share type).
-   *
-   * @return  None zero if succeeded.
-  **/
-  ECALC_API int eCAL_Pub_ShareType(ECAL_HANDLE handle_, int state_);
-
-  /**
-   * @brief Share topic description.
-   *
-   * @param handle_ Publisher handle. 
-   * @param state_  Set description share mode (none zero == share description).
-   *
-   * @return  None zero if succeeded.
-  **/
-  ECALC_API int eCAL_Pub_ShareDescription(ECAL_HANDLE handle_, int state_);
-
   /**
    * @brief Set the specific topic id.
    *

ecal/core/include/ecal/ecal_publisher.h

@@ -29,6 +29,7 @@
 #include <ecal/ecal_deprecate.h>
 #include <ecal/ecal_os.h>
 #include <ecal/ecal_payload_writer.h>
+#include <ecal/ecal_tlayer.h>
 #include <ecal/ecal_types.h>
 
 #include <chrono>
@@ -70,7 +71,41 @@ namespace eCAL
   {
   public:
 
-    ECAL_API static constexpr long long DEFAULT_TIME_ARGUMENT = -1;  /*!< Use DEFAULT_TIME_ARGUMENT in the `Send()` function to let eCAL determine the send timestamp */
+    ECAL_API static constexpr long long DEFAULT_TIME_ARGUMENT = -1;     /*!< Use DEFAULT_TIME_ARGUMENT in the `Send()` function to let eCAL determine the send timestamp */
+
+    struct ECAL_API SHMConfig
+    {
+      TLayer::eSendMode  send_mode               = TLayer::smode_auto;  //!< shm layer send mode (default auto)
+      bool               zero_copy_mode          = false;               //!< enable zero copy shared memory transport mode
+      int                acknowledge_timeout_ms  = 0;                   /*!< force connected subscribers to send acknowledge event after processing the message
+                                                                            the publisher send call is blocked on this event with this timeout (0 == no handshake) */
+      size_t             memfile_min_size_bytes  = 4096;                //!< default memory file size for new publisher
+      size_t             memfile_reserve_percent = 50;                  //!< dynamic file size reserve before recreating memory file if topic size changes
+      size_t             memfile_buffer_count    = 1;                   //!< maximum number of used buffers (needs to be greater than 1, default = 1)
+    };
+
+    struct ECAL_API UDPConfig
+    {
+      TLayer::eSendMode  send_mode               = TLayer::smode_auto;  //!< udp layer send mode (default auto)
+      int                sndbuf_size_bytes       = (5*1024*1024);       //!< udp send buffer size in bytes (default 5MB)
+    };
+
+    struct ECAL_API TCPConfig
+    {
+      TLayer::eSendMode  send_mode               = TLayer::smode_off;   //!<  tcp layer send mode (default off)
+    };
+
+    struct ECAL_API Config
+    {
+      Config();
+
+      SHMConfig shm;
+      UDPConfig udp;
+      TCPConfig tcp;
+
+      bool share_topic_type        = true;
+      bool share_topic_description = true;
+    };
 
     /**
      * @brief Constructor. 
@@ -80,17 +115,19 @@ namespace eCAL
     /**
      * @brief Constructor.
      *
-     * @param topic_name_   Unique topic name.
-     * @param topic_info_   Topic information (encoding, type, descriptor)
+     * @param topic_name_      Unique topic name.
+     * @param data_type_info_  Topic data type information (encoding, type, descriptor).
+     * @param config_          Optional configuration parameters.
     **/
-    ECAL_API CPublisher(const std::string& topic_name_, const SDataTypeInformation& topic_info_);
+    ECAL_API CPublisher(const std::string& topic_name_, const SDataTypeInformation& data_type_info_, const Config& config_ = {});
 
     /**
      * @brief Constructor.
      *
      * @param topic_name_   Unique topic name.
+     * @param config_       Optional configuration parameters.
     **/
-    ECAL_API explicit CPublisher(const std::string& topic_name_);
+    ECAL_API explicit CPublisher(const std::string& topic_name_, const Config& config_ = {});
 
     /**
      * @brief Destructor. 
@@ -120,12 +157,13 @@ namespace eCAL
     /**
      * @brief Creates this object.
      *
-     * @param topic_name_   Unique topic name.
-     * @param topic_info_   Topic information (encoding, type, descriptor)
+     * @param topic_name_      Unique topic name.
+     * @param data_type_info_  Topic data type information (encoding, type, descriptor).
+     * @param config_          Optional configuration parameters.
      *
      * @return  True if it succeeds, false if it fails.
     **/
-    ECAL_API bool Create(const std::string& topic_name_, const SDataTypeInformation& topic_info_);
+    ECAL_API bool Create(const std::string& topic_name_, const SDataTypeInformation& data_type_info_, const Config& config_ = {});
 
     /**
      * @brief Creates this object.
@@ -146,11 +184,11 @@ namespace eCAL
     /**
      * @brief Setup topic information.
      *
-     * @param topic_info_  Topic information attributes.
+     * @param data_type_info_  Topic data type information attributes.
      *
      * @return  True if it succeeds, false if it fails.
     **/
-    ECAL_API bool SetDataTypeInformation(const SDataTypeInformation& topic_info_);
+    ECAL_API bool SetDataTypeInformation(const SDataTypeInformation& data_type_info_);
 
     /**
      * @brief Sets publisher attribute. 
@@ -172,24 +210,6 @@ namespace eCAL
     **/
     ECAL_API bool ClearAttribute(const std::string& attr_name_);
 
-    /**
-     * @brief Share topic type.
-     *
-     * @param state_  Set type share mode (true == share type).
-     *
-     * @return  True if it succeeds, false if it fails.
-    **/
-    ECAL_API bool ShareType(bool state_ = true);
-
-    /**
-     * @brief Share topic description.
-     *
-     * @param state_  Set description share mode (true == share description).
-     *
-     * @return  True if it succeeds, false if it fails.
-    **/
-    ECAL_API bool ShareDescription(bool state_ = true);
-
     /**
      * @brief Set the specific topic id.
      *

ecal/core/include/ecal/ecal_tlayer.h

@@ -53,6 +53,7 @@ namespace eCAL
       smode_auto
     };
 
+    // TODO: Do weed need this ?
     /**
      * @brief eCAL transport layer state struct.
     **/

ecal/core/include/ecal/msg/capnproto/publisher.h

@@ -99,9 +99,10 @@ namespace eCAL
       * @brief  Constructor.
       *
       * @param topic_name_  Unique topic name.
+      * @param config_      Optional configuration parameters.
       **/
-      CPublisher(const std::string& topic_name_)
-        : eCAL::CPublisher(topic_name_, GetDataTypeInformation())
+      CPublisher(const std::string& topic_name_, const eCAL::CPublisher::Config& config_ = {})
+        : eCAL::CPublisher(topic_name_, GetDataTypeInformation(), config_)
         , builder(std::make_unique<capnp::MallocMessageBuilder>())
         , root_builder(builder->initRoot<message_type>())
       {
@@ -145,12 +146,13 @@ namespace eCAL
       * @brief  Creates this object.
       *
       * @param topic_name_  Unique topic name.
+      * @param config_      Optional configuration parameters.
       *
       * @return  True if it succeeds, false if it fails.
       **/
-      bool Create(const std::string& topic_name_)
+      bool Create(const std::string& topic_name_, const eCAL::CPublisher::Config& config_ = {})
       {
-        return(eCAL::CPublisher::Create(topic_name_, GetDataTypeInformation()));
+        return(eCAL::CPublisher::Create(topic_name_, GetDataTypeInformation(), config_));
       }
 
       typename message_type::Builder GetBuilder()
@@ -172,11 +174,11 @@ namespace eCAL
       **/
       SDataTypeInformation GetDataTypeInformation() const
       {
-        SDataTypeInformation topic_info;
-        topic_info.encoding   = eCAL::capnproto::EncodingAsString();
-        topic_info.name       = eCAL::capnproto::TypeAsString<message_type>();
-        topic_info.descriptor = eCAL::capnproto::SchemaAsString<message_type>();
-        return topic_info;
+        SDataTypeInformation data_type_info;
+        data_type_info.encoding   = eCAL::capnproto::EncodingAsString();
+        data_type_info.name       = eCAL::capnproto::TypeAsString<message_type>();
+        data_type_info.descriptor = eCAL::capnproto::SchemaAsString<message_type>();
+        return data_type_info;
       }
 
       std::unique_ptr<capnp::MallocMessageBuilder>    builder;

ecal/core/include/ecal/msg/flatbuffers/publisher.h

@@ -51,8 +51,9 @@ namespace eCAL
        * @brief  Constructor.
        *
        * @param topic_name_  Unique topic name.
+       * @param config_      Optional configuration parameters.
       **/
-      CPublisher(const std::string& topic_name_) : CMsgPublisher<T>(topic_name_, GetDataTypeInformation())
+      CPublisher(const std::string& topic_name_, const eCAL::CPublisher::Config& config_ = {}) : CMsgPublisher<T>(topic_name_, GetDataTypeInformation(), config_)
       {
       }
 
@@ -80,12 +81,13 @@ namespace eCAL
        * @brief  Creates this object.
        *
        * @param topic_name_  Unique topic name.
+       * @param config_      Optional configuration parameters.
        *
        * @return  True if it succeeds, false if it fails.
       **/
-      bool Create(const std::string& topic_name_)
+      bool Create(const std::string& topic_name_, const eCAL::CPublisher::Config& config_ = {})
       {
-        return(CMsgPublisher<T>::Create(topic_name_, GetDataTypeInformation()));
+        return(CMsgPublisher<T>::Create(topic_name_, GetDataTypeInformation(), config_));
       }
 
     private:
@@ -96,10 +98,10 @@ namespace eCAL
       **/
       SDataTypeInformation GetDataTypeInformation() const override
       {
-        SDataTypeInformation topic_info;
-        topic_info.encoding = "flatb";
+        SDataTypeInformation data_type_info;
+        data_type_info.encoding = "flatb";
         // empty type, empty descriptor
-        return topic_info;
+        return data_type_info;
       }
 
       /**

ecal/core/include/ecal/msg/messagepack/publisher.h

@@ -54,8 +54,9 @@ namespace eCAL
        * @brief  Constructor.
        *
        * @param topic_name_  Unique topic name.
+       * @param config_      Optional configuration parameters.
       **/
-      CPublisher(const std::string& topic_name_) : CMsgPublisher<T>(topic_name_, GetDataTypeInformation())
+      CPublisher(const std::string& topic_name_, const eCAL::CPublisher::Config& config_ = {}) : CMsgPublisher<T>(topic_name_, GetDataTypeInformation(), config_)
       {
       }
 
@@ -83,12 +84,13 @@ namespace eCAL
        * @brief  Creates this object.
        *
        * @param topic_name_  Unique topic name.
+       * @param config_      Optional configuration parameters.
        *
        * @return  True if it succeeds, false if it fails.
       **/
-      bool Create(const std::string& topic_name_)
+      bool Create(const std::string& topic_name_, const eCAL::CPublisher::Config& config_ = {})
       {
-        return(CMsgPublisher<T>::Create(topic_name_, GetDataTypeInformation()));
+        return(CMsgPublisher<T>::Create(topic_name_, GetDataTypeInformation(), config_));
       }
 
     private:
@@ -99,10 +101,10 @@ namespace eCAL
       **/
       SDataTypeInformation GetDataTypeInformation() const override
       {
-        SDataTypeInformation topic_info;
-        topic_info.encoding = "mpack";
+        SDataTypeInformation data_type_info;
+        data_type_info.encoding = "mpack";
         // empty descriptor, empty descriptor
-        return topic_info;
+        return data_type_info;
       }
 
       /**

ecal/core/include/ecal/msg/protobuf/dynamic_publisher.h

@@ -60,9 +60,10 @@ namespace eCAL
        *
        * @param topic_name_  Unique topic name.
        * @param msg_         Protobuf message object.
+       * @param config_      Optional configuration parameters.
       **/
-      CDynamicPublisher(const std::string& topic_name_, const std::shared_ptr<google::protobuf::Message>& msg_)
-        : CMsgPublisher<google::protobuf::Message>(topic_name_, GetTopicInformationFromMessage(msg_.get()))
+      CDynamicPublisher(const std::string& topic_name_, const std::shared_ptr<google::protobuf::Message>& msg_, const eCAL::CPublisher::Config& config_ = {})
+        : CMsgPublisher<google::protobuf::Message>(topic_name_, GetTopicInformationFromMessage(msg_.get()), config_)
         , m_msg{ msg_ } {}
 
       /**
@@ -140,11 +141,11 @@ namespace eCAL
         assert(msg_ptr_);
         if(msg_ptr_ == nullptr) return SDataTypeInformation();
 
-        SDataTypeInformation topic_info;
-        topic_info.encoding = "proto";
-        topic_info.name = msg_ptr_->GetTypeName();
-        topic_info.descriptor = GetDescriptorFromMessage(msg_ptr_);
-        return topic_info;
+        SDataTypeInformation data_type_info;
+        data_type_info.encoding   = "proto";
+        data_type_info.name       = msg_ptr_->GetTypeName();
+        data_type_info.descriptor = GetDescriptorFromMessage(msg_ptr_);
+        return data_type_info;
       }
 
       static std::string GetDescriptorFromMessage(const google::protobuf::Message* msg_ptr_)

ecal/core/include/ecal/msg/protobuf/publisher.h

@@ -100,13 +100,14 @@ namespace eCAL
        * @brief  Constructor.
        *
        * @param topic_name_  Unique topic name.
+       * @param config_      Optional configuration parameters.
       **/
 
       // call the function via its class because it's a virtual function that is called in constructor/destructor,-
       // where the vtable is not created yet, or it's destructed.
       // Probably we can handle the Message publishers differently. One message publisher class and then one class for payloads and getting type
       // descriptor information.
-      explicit CPublisher(const std::string& topic_name_) : eCAL::CPublisher(topic_name_, CPublisher::GetDataTypeInformation())
+      explicit CPublisher(const std::string& topic_name_, const eCAL::CPublisher::Config& config_ = {}) : eCAL::CPublisher(topic_name_, CPublisher::GetDataTypeInformation(), config_)
       {
       }
 
@@ -139,12 +140,13 @@ namespace eCAL
        * @brief  Creates this object.
        *
        * @param topic_name_  Unique topic name.
+       * @param config_      Optional configuration parameters.
        *
        * @return  True if it succeeds, false if it fails.
       **/
-      bool Create(const std::string& topic_name_)
+      bool Create(const std::string& topic_name_, const eCAL::CPublisher::Config& config_ = {})
       {
-        return(eCAL::CPublisher::Create(topic_name_, GetDataTypeInformation()));
+        return(eCAL::CPublisher::Create(topic_name_, GetDataTypeInformation(), config_));
       }
 
       /**
@@ -170,12 +172,12 @@ namespace eCAL
       **/
       struct SDataTypeInformation GetDataTypeInformation() const
       {
-        struct SDataTypeInformation topic_info;
+        struct SDataTypeInformation data_type_info;
         static T msg{};
-        topic_info.encoding   = "proto";
-        topic_info.name       = msg.GetTypeName();
-        topic_info.descriptor = protobuf::GetProtoMessageDescription(msg);
-        return topic_info;
+        data_type_info.encoding   = "proto";
+        data_type_info.name       = msg.GetTypeName();
+        data_type_info.descriptor = protobuf::GetProtoMessageDescription(msg);
+        return data_type_info;
       }
 
     };