[core] redesign publisher api #1858

rex-schilasky · 2024-12-12T09:03:07Z

Description

Public API Updates

Namespace Changes:
- The old eCAL::CPublisher API has been moved to the eCAL::v5 namespace, explicitly targeting legacy eCAL version 5 applications. This ensures backward compatibility for existing systems still reliant on the older API.
New API Introduction:
- A new eCAL::CPublisher class has been introduced under the eCAL::v6 namespace (default inline namespace).
- The new API offers a modernized, reduced interface, improving usability.

Key Differences Between `v5::CPublisher` and `v6::CPublisher`

Constructor Changes:
- In v6, the Create() method has been removed. Publishers are fully initialized during construction.
- New constructors allow optional inclusion of:
  - SDataTypeInformation for specifying data type encoding and descriptor.
  - PubEventIDCallbackT for event callback registration during initialization.
Destruction:
- In v6, Destroy() has been removed. Publishers are cleaned up automatically via the destructor.
Send Method Overhaul:
- v6 refines the Send method:
  - Returns a boolean (true for success, false for failure) instead of the number of bytes sent.
  - Accepts payload in three formats: raw buffer, CPayloadWriter, and std::string.
`Connect/Disconnect event handling:
- old behavior:
  - connect event is fired one time when first subscriber is connecting
  - disconnect event is fired one time when last subscriber is disconnected
- new behavior:
  - connect event is fired for every connecting subscriber
  - disconnect event is fired for every disconnecting subscriber
Removed Functions:
- SetAttribute, ClearAttribute, and SetID were removed from v6 as they were experimental or seldom used.
- The IsCreated() method is no longer necessary due to automatic resource management.
- AddEventCallback and RemEventCallback are replaced by an optional callback parameter in the constructor.

Code Modernization

Resource Management:
- Internally, both APIs now use std::shared_ptr<CPublisherImpl> for robust and automated resource management.
C++ Standards:
- constexpr constants and noexcept specifications have been added for improved performance and clarity.

Impact

These changes enable legacy applications to remain functional while offering a streamlined, modern API for new projects.
Users of the new API benefit from improved usability, safer memory management, and better compliance with C++ standards.

new eCAL::CPublisher with reduced API all tests and samples use new CPublisher all apps, lang bindings adapted to use old v5::CPublisher

…r_impl.cpp/h

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ecal/core/include/ecal/ecal_publisher.h

ecal/core/include/ecal/ecal_publisher_v5.h

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

ecal/tests/cpp/pubsub_test/src/pubsub_test_shm.cpp

ecal/tests/cpp/pubsub_test/src/pubsub_test_udp.cpp

ecal/tests/cpp/registration_test_public/src/registration_gettopics.cpp

lang/csharp/Continental.eCAL.Core/ecal_clr.h

config internal adaption

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clang-tidy made some suggestions

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

lang/python/core/src/ecal_clang.cpp

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clang-tidy made some suggestions

ecal/core/include/ecal/ecal_publisher.h

ecal/core/src/pubsub/ecal_publisher.cpp

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clang-tidy made some suggestions

ecal/core/src/pubsub/ecal_publisher.cpp

…alue as well RemEventCallback -> RemoveEventCallback

removed test added again

github-actions

clang-tidy made some suggestions

ecal/core/include/ecal/ecal_publisher.h

ecal/core/src/pubsub/ecal_publisher.cpp

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clang-tidy made some suggestions

lang/python/core/src/ecal_clang.cpp

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ecal/core/src/pubsub/ecal_pubgate.cpp

Constructor handling (code duplicates)

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ecal/core/src/pubsub/ecal_publisher.cpp

Peguen

🫧

ecal/core/src/pubsub/ecal_publisher.cpp

ecal/core/src/pubsub/ecal_publisher_impl.cpp

RemEventCallback -> RemoveEventCallback std::move(const callback) -> = callback check m_event_id_callback before creating callback structure

rex-schilasky added 4 commits December 12, 2024 09:17

legacy CPublisher moved to eCAL::v5::CPublisher

291e9d6

new eCAL::CPublisher with reduced API all tests and samples use new CPublisher all apps, lang bindings adapted to use old v5::CPublisher

readwrite/ecal_writer.cpp/h moved and renamed to pubsub/ecal_publishe…

586c28c

…r_impl.cpp/h

eCAL::CDataWriter renamed to eCAL::CPublisherImpl

3ea43f0

minor renaming and default arguments

6c13283

rex-schilasky added the cherry-pick-to-NONE Don't cherry-pick these changes label Dec 12, 2024

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rex-schilasky added 3 commits December 12, 2024 10:52

ecal proto and capnp publisher still base on eCAL::v5::CPublisher

9806e03

Merge branch 'master' into feature/redesign-publisher-api

eae7a92

master merged in

0a9970c

config internal adaption

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shared_ptr handling, commenting

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rex-schilasky added 3 commits December 13, 2024 07:06

check for nullptr in destructor

396dd5e

remove pointer checks

6d696be

return value type of CPublisher::Send changed to boolean

4e37e22

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rex-schilasky added 4 commits December 13, 2024 11:56

tests adapted (boolean return of CPublisher::Send()

b74825d

Publisher::Send call for message publisher change to return boolean v…

c912abb

…alue as well RemEventCallback -> RemoveEventCallback

proto pub test fixed

be1a9dc

removed test added again

IsSubscribed removed (GetSubscriberCount)

dd361b4

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rex-schilasky added 2 commits December 13, 2024 16:50

pointer check

cd8d045

Merge branch 'master' into feature/redesign-publisher-api

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lang/python/core/src/ecal_clang.cpp Show resolved Hide resolved

renaming, Send() return bool instead size

443eb16

github-actions bot reviewed Dec 16, 2024

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ecal/core/src/pubsub/ecal_pubgate.cpp Show resolved Hide resolved

_sync -> _mutex

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Constructor handling (code duplicates)

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Peguen approved these changes Dec 16, 2024

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GetId -> GetTopicId

c684aa1

RemEventCallback -> RemoveEventCallback std::move(const callback) -> = callback check m_event_id_callback before creating callback structure

minor logging fix

23e7f63

rex-schilasky merged commit a6d6f1f into master Dec 16, 2024
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rex-schilasky deleted the feature/redesign-publisher-api branch December 16, 2024 15:41

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[core] redesign publisher api #1858

[core] redesign publisher api #1858

rex-schilasky commented Dec 12, 2024 •

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[core] redesign publisher api #1858

[core] redesign publisher api #1858

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rex-schilasky commented Dec 12, 2024 • edited Loading

Description

Public API Updates

Key Differences Between v5::CPublisher and v6::CPublisher

Code Modernization

Impact

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rex-schilasky commented Dec 12, 2024 •

edited

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Key Differences Between `v5::CPublisher` and `v6::CPublisher`