eCAL v5.5.2:

* core
  * communication layer reduced to eCAL inproc, eCAL shm, eCAL udp multicast and Iceoryx
    * fastrtps layer removed
    * lcm layer removed
    * udp unicast layer removed
    * eCAL metal layer removed
* monitoring
  * ecal core initialization state shown in monitor
  * loaded time plugin name and state shown in monitor
* ecal player
  * command line handling improved
  * gui minor fixes
* bugfixes
  * eCAL:CTimer bugfix in loop time calculation
  * use system_clock instead steady_clock if time plugin handling failed or not configured
  * wrong host id calculation based on installed network adapters fixed
  * python eCAL service fixed (#39) - thanks @JeremyBYU
* improvements
  * eCAL:CTimer improved precision
  * unit tests added

Co-authored-by: Rex Schilasky <[email protected]>
Co-authored-by: Kristof Hannemann <[email protected]>

.gitmodules

@@ -13,3 +13,6 @@
 [submodule "thirdparty/spdlog"]
  path = thirdparty/spdlog
  url = https://github.com/gabime/spdlog.git
+[submodule "thirdparty/googletest"]
+ path = thirdparty/googletest
+ url = https://github.com/google/googletest.git

CMakeLists.txt

@@ -44,7 +44,8 @@ option(BUILD_APPS "Build the eCAL applications"
 option(BUILD_SAMPLES "Build the eCAL samples" ON)
 option(BUILD_TIME "Build the eCAL time interfaces" ON)
 option(BUILD_PY_BINDING "Build eCAL python binding" OFF)
-option(ECAL_LAYER_FASTRTPS "Provide fast rtps as communication layer" OFF)
+option(BUILD_TESTS "Build the eCAL google tests" OFF)
+
 option(ECAL_LAYER_ICEORYX "Provide iceoryx as communication layer" OFF)
 
 option(ECAL_INCLUDE_PY_SAMPLES "Include python language sample projects into CMake" OFF)
@@ -55,8 +56,9 @@ option(ECAL_NPCAP_SUPPORT "Enable the eCAL Npcap Receiver (
 
 # Set option regarding third party library builds
 option(ECAL_THIRDPARTY_BUILD_CMAKE_FUNCTIONS "Build CMakeFunctions with eCAL" ON)
-option(ECAL_THIRDPARTY_BUILD_PROTOBUF "Build Protobuf with eCAL" ON)
+option(ECAL_THIRDPARTY_BUILD_PROTOBUF "Build protobuf with eCAL" ON)
 option(ECAL_THIRDPARTY_BUILD_SPDLOG "Build spdlog with eCAL" ON)
+option(ECAL_THIRDPARTY_BUILD_GTEST "Build gtest with eCAL" OFF)
 
 set(ECAL_INSTALL_PYTHON_DIR "bin" CACHE PATH "Location to install the Python extension modules. Might be set by setupdtools install.")
 
@@ -79,7 +81,7 @@ message(STATUS "Prefix Path: ${CMAKE_PREFIX_PATH}")
 # --------------------------------------------------------
 # third party dependencies as requested
 # --------------------------------------------------------
-if (ECAL_THIRDPARTY_BUILD_PROTOBUF OR ECAL_THIRDPARTY_BUILD_SPDLOG)
+if (ECAL_THIRDPARTY_BUILD_PROTOBUF OR ECAL_THIRDPARTY_BUILD_SPDLOG OR ECAL_THIRDPARTY_BUILD_GTEST)
  if(MSVC)
  # supress thirdparty warnings for windows platform
  set(CMAKE_CXX_FLAGS_OLD "${CMAKE_CXX_FLAGS}")
@@ -115,7 +117,24 @@ if (ECAL_THIRDPARTY_BUILD_SPDLOG)
  add_library(spdlog::spdlog ALIAS spdlog)
 endif ()
 
-if (ECAL_THIRDPARTY_BUILD_PROTOBUF OR ECAL_THIRDPARTY_BUILD_SPDLOG)
+if (ECAL_THIRDPARTY_BUILD_GTEST)
+ list(APPEND as_subproject GTest)
+ # Googletest automatically forces MT instead of MD if we do not set this option.
+ if(MSVC)
+ set(gtest_force_shared_crt ON CACHE BOOL "My option" FORCE)
+ set(BUILD_GMOCK OFF CACHE BOOL "My option" FORCE)
+ set(INSTALL_GTEST OFF CACHE BOOL "My option" FORCE)
+ endif()
+ add_subdirectory(thirdparty/googletest)
+ if(NOT TARGET GTest::GTest)
+ add_library(GTest::GTest ALIAS gtest)
+ endif()
+ if(NOT TARGET GTest::Main)
+ add_library(GTest::Main ALIAS gtest_main)
+ endif()
+endif()
+
+if (ECAL_THIRDPARTY_BUILD_PROTOBUF OR ECAL_THIRDPARTY_BUILD_SPDLOG OR ECAL_THIRDPARTY_BUILD_GTEST)
  if(MSVC)
  # reset thirdparty warnings for windows platform
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS_OLD}")
@@ -298,6 +317,7 @@ add_subdirectory(ecal/core/src)
 # custom libs
 # --------------------------------------------------------
 add_subdirectory(lib/ThreadingUtils)
+add_subdirectory(lib/CustomTclap)
 add_subdirectory(lib/EcalUtils)
 if(HAS_QT5)
  add_subdirectory(lib/CustomQt)
@@ -374,7 +394,7 @@ if(BUILD_APPS AND HAS_QT5)
  endif()
  add_subdirectory(app/mon/eCALMonPlugins)
 # --------------------------------------------------------
-# Qt5 Apps using HDF5
+# qt applications using hdf5
 # --------------------------------------------------------
 if(BUILD_APPS AND HAS_QT5 AND HAS_HDF5)
  add_subdirectory(app/play/eCALPlayGUI)
@@ -383,12 +403,40 @@ endif()
 endif()
 
 # --------------------------------------------------------
-# Samples
+# samples
 # --------------------------------------------------------
 if(BUILD_SAMPLES)
  add_subdirectory(samples)
 endif()
 
+# --------------------------------------------------------
+# unit tests
+# --------------------------------------------------------
+if(BUILD_TESTS)
+ enable_testing()
+
+ # ------------------------------------------------------
+ # test contrib
+ # ------------------------------------------------------
+ if(HAS_HDF5)
+ add_subdirectory(testing/contrib/ecalhdf5/hdf5_test/src)
+ endif()
+ add_subdirectory(testing/contrib/ecalproto/dynproto_test/src)
+ add_subdirectory(testing/contrib/ecalproto/ecal_proto_test/src)
+
+ # ------------------------------------------------------
+ # test ecal
+ # ------------------------------------------------------
+ add_subdirectory(testing/ecal/clientserver_test/src)
+ add_subdirectory(testing/ecal/core_test/src)
+ add_subdirectory(testing/ecal/event_test/src)
+ add_subdirectory(testing/ecal/expmap_test/src)
+ add_subdirectory(testing/ecal/io_memfile_test/src)
+ add_subdirectory(testing/ecal/pubsub_inproc_test/src)
+ add_subdirectory(testing/ecal/pubsub_proto_test/src)
+ add_subdirectory(testing/ecal/pubsub_test/src)
+endif()
+
 # --------------------------------------------------------
 # configs
 # --------------------------------------------------------

NOTICE.txt

@@ -21,7 +21,7 @@ This project has dependencies - list with dependency name and license follows.
 
  - Apache License 2.0 - https://www.apache.org/licenses/LICENSE-2.0
  - Boost Software License - http://www.boost.org/LICENSE_1_0.txt
- - BSD 2-Clause License - http://www.opensource.org/licenses/bsd-license.php
+ - BSD 3-Clause License - https://opensource.org/licenses/BSD-3-Clause
  - GNU Lesser General Public License v2.1 - https://www.gnu.org/licenses/old-licenses/lgpl-2.1.de.html
  - GNU Lesser General Public License v3 - https://www.gnu.org/licenses/lgpl-3.0.de.html
  - MIT License - https://opensource.org/licenses/MIT
@@ -36,17 +36,8 @@ This project has dependencies - list with dependency name and license follows.
  - Copyright © 2003-2018 Christopher M. Kohlhoff
  - URL: https://think-async.com
  - License: Boost Software License - http://www.boost.org/LICENSE_1_0.txt
-
-2.1.2 LCM-Lite
- - URL: https://github.com/lcm-proj/lcm/tree/master/lcm-lite
- - License: GNU Lesser General Public License v2.1 - https://github.com/lcm-proj/lcm/blob/master/COPYING
-
-2.1.3 FastRTPS / FastCDR
- - Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima)
- - URL: https://github.com/eProsima/Fast-RTPS
- - License: Apache License 2.0 - https://github.com/eProsima/Fast-RTPS/blob/master/LICENSE
 
-2.1.4 NPCAP
+2.1.2 NPCAP
  - Copyright 2013-2016 by Insecure.Com LLC
  - URL: https://nmap.org/npcap/
  - License: Npcap License - https://github.com/nmap/npcap/blob/master/LICENSE
@@ -99,3 +90,10 @@ This project has dependencies - list with dependency name and license follows.
  - Copyright 2013-2019 Freepik Company S.L. All rights reserved.
  - URL: https://www.flaticon.com/
  - License: Creative Commons 3.0 - https://creativecommons.org/licenses/by/3.0
+
+2.5 Testing
+
+2.5.1 GoogleTest
+ - Copyright 2008 Google Inc.
+ - URL: https://github.com/google/googletest
+ - License: BSD 3-Clause License - https://github.com/google/googletest/blob/master/LICENSE.txt

PVSSettings.xml

@@ -15,9 +15,6 @@
  <PathMasks>
  <string>\qt\</string>
  <string>\_build\</string>
- <string>\ecal\core\src\readwrite\fastrtps\string_message_PubSubTypes.cxx</string>
- <string>\ecal\core\src\readwrite\fastrtps\string_message_.cxx</string>
- <string>\ecal\core\src\readwrite\lcm\lcmlite.cpp</string>
  <string>\thirdparty\</string>
  </PathMasks>
  <UncheckedButtons>toolstrip_L3Warnings toolStripButton_OP toolStripButton_64</UncheckedButtons>