From 5d3c07768594383c4e64706e0565a5a14a0bf3fe Mon Sep 17 00:00:00 2001
From: Kerstin Keller <49187426+Kerstin-Keller@users.noreply.github.com>
Date: Wed, 18 Sep 2019 14:05:50 +0200
Subject: [PATCH] eCAL v5.4.0: * Capnproto added as natively supported
 serialization format:   * publisher & subscriber register descriptor
 information   * dynamic subscriber added that doesn't require schematas   *
 reflection support in eCAL Monitor * eCALMon display & calculation of CPU
 usage fixed * performance improvements * minor fixes

---
 CMakeLists.txt                                |   8 +-
 README.md                                     |  86 ++---
 .../Widgets/EcalmonTreeWidget/HostWidget.cpp  |   4 +-
 .../EcalmonTreeWidget/ProcessWidget.cpp       |  12 +-
 .../src/Widgets/Models/ProcessTreeItem.cpp    |  12 +-
 .../src/Widgets/Models/ProcessTreeItem.h      |   4 +-
 .../src/Widgets/Models/ProcessTreeModel.h     |  12 +-
 app/mon/eCALMonPlugins/CMakeLists.txt         |   4 +
 .../CapnprotoReflection/CMakeLists.txt        |  69 ++++
 .../src/CapnprotoTreeBuilder.cpp              | 303 ++++++++++++++++
 .../src/CapnprotoTreeBuilder.h                |  66 ++++
 .../CapnprotoReflection/src/Plugin.cpp        |  28 ++
 .../CapnprotoReflection/src/Plugin.h          |  31 ++
 .../CapnprotoReflection/src/PluginWidget.cpp  | 339 ++++++++++++++++++
 .../CapnprotoReflection/src/PluginWidget.h    |  87 +++++
 .../src/PluginWidget.ui}                      |  60 +++-
 .../CapnprotoReflection/src/metadata.json     |  16 +
 .../eCALMonPlugins/DummyPlugin/src/Plugin.cpp |  19 +
 .../eCALMonPlugins/DummyPlugin/src/Plugin.h   |  19 +
 .../DummyPlugin/src/PluginWidget.cpp          |  32 +-
 .../DummyPlugin/src/PluginWidget.h            |  32 +-
 .../ProtobufReflection/CMakeLists.txt         |   7 +-
 .../ProtobufReflection/src/Plugin.cpp         |  32 +-
 .../ProtobufReflection/src/Plugin.h           |  32 +-
 .../ProtobufReflection/src/PluginWidget.cpp   |  32 +-
 .../ProtobufReflection/src/PluginWidget.h     |  32 +-
 .../src/ProtobufTreeBuilder.cpp               |  19 +
 .../src/ProtobufTreeBuilder.h                 |  33 +-
 .../RawDataReflection/CMakeLists.txt          |   4 +
 .../RawDataReflection/src/Plugin.cpp          |  19 +
 .../RawDataReflection/src/Plugin.h            |  19 +
 .../RawDataReflection/src/PluginWidget.cpp    |  32 +-
 .../RawDataReflection/src/PluginWidget.h      |  32 +-
 .../StringReflection/CMakeLists.txt           |   4 +
 .../StringReflection/src/Plugin.cpp           |  19 +
 .../StringReflection/src/Plugin.h             |   2 +-
 .../StringReflection/src/PluginWidget.cpp     |  32 +-
 .../StringReflection/src/PluginWidget.h       |  32 +-
 cmake/eCALConfig.cmake.in                     |   2 +-
 .../helper_functions/ecal_add_functions.cmake |  18 +-
 contrib/ecaltime/linuxptp/src/CMakeLists.txt  |   4 +-
 doc/CMakeLists.txt                            |  18 +
 ecal/core/cfg/ecal.ini                        |   6 +-
 .../include/ecal/cimpl/ecal_process_cimpl.h   |  30 +-
 ecal/core/include/ecal/ecal_process.h         |  51 ++-
 .../core/include/ecal/msg/capnproto/dynamic.h | 202 +++++++++++
 ecal/core/include/ecal/msg/capnproto/helper.h | 120 +++++++
 .../include/ecal/msg/capnproto/publisher.h    | 142 +++++++-
 .../include/ecal/msg/capnproto/subscriber.h   | 191 ++++++++--
 ecal/core/include/ecal/msg/dynamic.h          |  56 +++
 .../ecal/msg/protobuf/dynamic_subscriber.h    |  34 +-
 ecal/core/src/CMakeLists.txt                  |   3 +
 ecal/core/src/ecal.cpp                        |   6 +-
 ecal/core/src/ecal_def.h                      |   5 +-
 ecal/core/src/ecal_def_ini.h                  |   3 +-
 ecal/core/src/ecal_global_accessors.cpp       |   8 +-
 ecal/core/src/ecal_global_accessors.h         |   8 +-
 ecal/core/src/ecal_process.cpp                |  14 +-
 ecal/core/src/ecal_register.cpp               |  18 +-
 ecal/core/src/ecal_util.cpp                   |   2 +-
 ecal/core/src/ecalc.cpp                       |  14 +-
 ecal/core/src/io/ecal_memfile.cpp             |   2 +-
 ecal/core/src/io/ecal_memfile_pool.cpp        |  28 +-
 ecal/core/src/io/ecal_memfile_pool.h          |   3 +-
 ecal/core/src/mon/ecal_monitoring_impl.cpp    |  18 +-
 ecal/core/src/mon/ecal_monitoring_impl.h      |   8 +-
 ecal/core/src/pubsub/ecal_subgate.cpp         |   2 +-
 ecal/core/src/readwrite/ecal_writer.cpp       |   4 +-
 ecal/core/src/readwrite/ecal_writer_shm.cpp   |  60 ++--
 ecal/core/src/readwrite/ecal_writer_shm.h     |   5 +-
 ecal/core/src/sys_usage.cpp                   |   4 +-
 ecal/pb/src/ecal/pb/process.proto             |   4 +-
 samples/CMakeLists.txt                        |   7 +-
 .../capnp/addressbook_rec/src/CMakeLists.txt  |  37 ++
 .../addressbook_rec/src/addressbook_rec.cpp   |   7 +-
 .../addressbook_rec_cb/src/CMakeLists.txt     |  37 ++
 .../src/addressbook_rec_cb.cpp                | 109 ++++++
 .../src/capnp/addressbook.capnp               |  56 +++
 .../src/CMakeLists.txt                        |  33 ++
 .../src/addressbook_rec_dynamic.cpp           | 130 +++++++
 .../capnp/addressbook_snd/src/CMakeLists.txt  |  37 ++
 .../addressbook_snd/src/addressbook_snd.cpp   |  11 +-
 .../cpp/event/event_rec/src/CMakeLists.txt    |   1 -
 .../monitoring_rec/src/monitoring_rec.cpp     |   4 +-
 84 files changed, 2724 insertions(+), 463 deletions(-)
 create mode 100644 app/mon/eCALMonPlugins/CapnprotoReflection/CMakeLists.txt
 create mode 100644 app/mon/eCALMonPlugins/CapnprotoReflection/src/CapnprotoTreeBuilder.cpp
 create mode 100644 app/mon/eCALMonPlugins/CapnprotoReflection/src/CapnprotoTreeBuilder.h
 create mode 100644 app/mon/eCALMonPlugins/CapnprotoReflection/src/Plugin.cpp
 create mode 100644 app/mon/eCALMonPlugins/CapnprotoReflection/src/Plugin.h
 create mode 100644 app/mon/eCALMonPlugins/CapnprotoReflection/src/PluginWidget.cpp
 create mode 100644 app/mon/eCALMonPlugins/CapnprotoReflection/src/PluginWidget.h
 rename app/mon/eCALMonPlugins/{StringReflection/src/PluginWidget.ui.autosave => CapnprotoReflection/src/PluginWidget.ui} (62%)
 create mode 100644 app/mon/eCALMonPlugins/CapnprotoReflection/src/metadata.json
 create mode 100644 ecal/core/include/ecal/msg/capnproto/dynamic.h
 create mode 100644 ecal/core/include/ecal/msg/capnproto/helper.h
 create mode 100644 ecal/core/include/ecal/msg/dynamic.h
 create mode 100644 samples/cpp/capnp/addressbook_rec/src/CMakeLists.txt
 create mode 100644 samples/cpp/capnp/addressbook_rec_cb/src/CMakeLists.txt
 create mode 100644 samples/cpp/capnp/addressbook_rec_cb/src/addressbook_rec_cb.cpp
 create mode 100644 samples/cpp/capnp/addressbook_rec_cb/src/capnp/addressbook.capnp
 create mode 100644 samples/cpp/capnp/addressbook_rec_dynamic/src/CMakeLists.txt
 create mode 100644 samples/cpp/capnp/addressbook_rec_dynamic/src/addressbook_rec_dynamic.cpp
 create mode 100644 samples/cpp/capnp/addressbook_snd/src/CMakeLists.txt

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 37dbb1b846..51c8ed6670 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -15,7 +15,8 @@
 # limitations under the License.
 #
 # ========================= eCAL LICENSE =================================
-cmake_minimum_required(VERSION 3.5)
+
+cmake_minimum_required(VERSION 3.13)
 
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake/find_scripts)
@@ -34,6 +35,7 @@ cmake_policy(SET CMP0054 NEW)
 # use it that way cmake .. -DBUILD_APPS=ON -DBUILD_SAMPLES=ON
 # --------------------------------------------------------
 option(HAS_QT5                                 "Platform supports Qt 5 library"                                   ON)
+option(HAS_CAPNPROTO                           "Platform supports Cap'n Proto library"                           OFF)
 
 option(BUILD_DOCS                              "Build the eCAL documentation"                                     ON)
 option(BUILD_APPS                              "Build the eCAL applications"                                      ON)
@@ -120,10 +122,10 @@ endif()
 find_package(CMakeFunctions REQUIRED)
 
 git_revision_information()
-set(eCAL_VERSION_MAYOR  ${GIT_REVISION_MAYOR})
+set(eCAL_VERSION_MAJOR  ${GIT_REVISION_MAYOR})
 set(eCAL_VERSION_MINOR  ${GIT_REVISION_MINOR})
 set(eCAL_VERSION_PATCH  ${GIT_REVISION_PATCH})
-set(eCAL_VERSION_STRING ${eCAL_VERSION_MAYOR}.${eCAL_VERSION_MINOR}.${eCAL_VERSION_PATCH})
+set(eCAL_VERSION_STRING ${eCAL_VERSION_MAJOR}.${eCAL_VERSION_MINOR}.${eCAL_VERSION_PATCH})
 set(eCAL_VERSION        ${eCAL_VERSION_STRING}) 
 
 include(helper_functions/ecal_add_functions)
diff --git a/README.md b/README.md
index fbc463973d..5afd7ad3e5 100644
--- a/README.md
+++ b/README.md
@@ -45,6 +45,39 @@ git submodule init
 git submodule update
 ```
 
+## CMake build options
+
+eCAL is using CMake as build system. When configuring with CMake, you can turn on / off the following features.
+
+- `HAS_QT5`, default: `ON`
+  Platform supports Qt 5 library, necessary to build eCAL monitoring tool
+- `HAS_CAPNPROTO`, default: `OFF`
+  Platform supports Cap'n Proto library, necessary to use capnp serialization as message system and to enable eCAL monitoring capnp message reflection
+  eCAL does not add Cap'n Proto as a submodule. If you set this option to `ON`, please make sure that the library is installed on your system and CMake can find it (consider setting CMAKE_PREFIX_PATH to point to the library).
+  Currently Version 0.6.1 is supported and has been tested, to use 0.7.0 some adaptations in CMakeLists.txt files needs to be made to make the samples compile.
+- `BUILD_DOCS`, default `ON`
+  Build the eCAL documentation, requires the installation of doxygen and a recent CMake version (>= 3.14 preferred, but some lower versions might work)
+- `BUILD_APPS`, default `ON`,
+  Build the eCAL applications, such as the monitoring tool
+- `BUILD_SAMPLES`, default `OFF`
+  Build the eCAL sample applications
+- `BUILD_TIME`, default `ON`
+  Build the eCAL time interfaces, necessary if you want to use ecal in time synchronized mode (based on ptp for example)
+- `ECAL_LAYER_FASTRTPS`, default `OFF`
+  Provide fast rtps as communication layer, requires fast-rtps and fast-cdr installations
+- `ECAL_INSTALL_SAMPLE_SOURCES`, default: `ON`
+  Install the sources of eCAL samples
+- `ECAL_JOIN_MULTICAST_TWICE`, default: `OFF`
+  Specific multicast network bug workaround
+- `ECAL_NPCAP_SUPPORT`, default `OFF`
+  Enable the eCAL to use Npcap for udp socket communication (i.e. the Win10 performance fix)
+- `ECAL_THIRDPARTY_BUILD_PROTOBUF`, default `ON`
+  Build Protobuf with eCAL, included as a submodule in the thirdparty folder. You can always use your custom protobuf installation, this is only for convenience. Note, at least protobuf 3.0 is required to compile eCAL, we recommend using 3.5.1 or newer (tested with 3.5.1).
+- `ECAL_THIRDPARTY_BUILD_PROTOBUF`, default `ON`
+  Build Protobuf with eCAL, included as a submodule in the thirdparty folder. You can always use your custom protobuf installation, this is only for convenience. Note, at least protobuf 3.0 is required to compile eCAL, we recommend using 3.5.1 or newer (tested with 3.5.1).
+
+All options can be passed on the command line `cmake -D<option>=<value>` or in the CMake GUI application.
+
 ## Setup on Linux Systems
 
 Update gcc to 5.3.x or newer and install cmake.
@@ -187,33 +220,6 @@ You can find the ecal.ini configuration file under %APPDATA%\eCAL.
 
 Don't forget to disable any windows firewall.
 
-## CMake build options
-
-When configuring with CMake, you can turn on / off specific features of eCAL.
-
-- `HAS_QT5`, default: `ON`  
-  Platform supports Qt 5 library, necessary to build monitoring tool
-- `BUILD_DOCS`, default `ON`
-  Build the eCAL documentation, requires the installation of doxygen and a recent CMake version (>= 3.14 preferred, but some lower versions might work)
-- `BUILD_APPS`, default `ON`,  
-  Build the eCAL applications, such as the Monitor
-- `BUILD_SAMPLES`, default `OFF`
-  Build the eCAL sample applications
-- `BUILD_TIME`, default `ON`
-  Build the eCAL time interfaces, necessary if you want to use ecal in time synchronized mode
-- `ECAL_LAYER_FASTRTPS`, default `OFF`
-  Provide fast rtps as communication layer, requires fast-rtps and fast-cdr installations
-- `ECAL_INSTALL_SAMPLE_SOURCES`, default: `ON`
-  Install the sources of eCAL samples
-- `ECAL_JOIN_MULTICAST_TWICE`, default: `OFF`
-  Specific Multicast Network Bug Workaround
-- `ECAL_NPCAP_SUPPORT`, default `OFF`
-  Enable the eCAL Npcap Receiver (i.e. the Win10 performance fix)
-- `ECAL_THIRDPARTY_BUILD_PROTOBUF`, default `ON`
-  Build Protobuf with eCAL, included as a submodule in the thirdparty folder. You can always use your custom protobuf installation, this is only for convenience. Note, at least protobuf 3.0 is required to compile eCAL, we recommend using 3.5.1 or newer (tested with 3.5.1).
-
-All options can be passed on the command line `cmake -D<option>=<value>` or in the CMake GUI application.
-
 ## Initial Test
 
 To initially check the functionality of a fresh installed eCAL system, just follow these steps.
@@ -270,19 +276,19 @@ H/W path      Device    Class       Description
 
 |Payload Size (kB)|Win10 AMD64|Ubuntu16 AMD64|
 |----------------:|----------:|-------------:|
-|              1  |       25  |          14  |
-|              2  |       25  |          14  |
-|              4  |       26  |          15  |
-|              8  |       28  |          16  |
-|             16  |       33  |          18  |
-|             32  |       37  |          22  |
-|             64  |       47  |          26  |
-|            128  |       68  |          40  |
-|            256  |      107  |          66  |
-|            512  |      190  |         134  |
-|           1024  |      401  |         720  |
-|           2048  |      937  |        1500  |
-|           4096  |     1868  |        3600  |
+|              1  |       13  |          14  |
+|              2  |       13  |          14  |
+|              4  |       15  |          15  |
+|              8  |       16  |          16  |
+|             16  |       19  |          18  |
+|             32  |       20  |          22  |
+|             64  |       27  |          26  |
+|            128  |       40  |          40  |
+|            256  |       63  |          66  |
+|            512  |      108  |         134  |
+|           1024  |      288  |         720  |
+|           2048  |      768  |        1500  |
+|           4096  |     1548  |        3600  |
 
 ## Usage
 
diff --git a/app/mon/eCALMon/src/Widgets/EcalmonTreeWidget/HostWidget.cpp b/app/mon/eCALMon/src/Widgets/EcalmonTreeWidget/HostWidget.cpp
index 6257b2558c..a26d90e8e4 100644
--- a/app/mon/eCALMon/src/Widgets/EcalmonTreeWidget/HostWidget.cpp
+++ b/app/mon/eCALMon/src/Widgets/EcalmonTreeWidget/HostWidget.cpp
@@ -95,8 +95,8 @@ void HostWidget::autoSizeColumns()
   example_process_pb->set_pmemory(99999999999);
   example_process_pb->set_pcpu(1000);
   example_process_pb->set_usrptime(999999.9999f);
-  example_process_pb->set_udpsbytes(999999);
-  example_process_pb->set_udprbytes(999999);
+  example_process_pb->set_datawrite(99999999999);
+  example_process_pb->set_dataread(99999999999);
 
   HostTreeItem* example_host_item = new HostTreeItem("CARPC00____");
   example_host_item->update(example_monitoring_pb);
diff --git a/app/mon/eCALMon/src/Widgets/EcalmonTreeWidget/ProcessWidget.cpp b/app/mon/eCALMon/src/Widgets/EcalmonTreeWidget/ProcessWidget.cpp
index 3152452b74..f80a854eb0 100644
--- a/app/mon/eCALMon/src/Widgets/EcalmonTreeWidget/ProcessWidget.cpp
+++ b/app/mon/eCALMon/src/Widgets/EcalmonTreeWidget/ProcessWidget.cpp
@@ -82,8 +82,8 @@ ProcessWidget::ProcessWidget(QWidget *parent)
     (int)ProcessTreeModel::Columns::HEARTBEAT,
     (int)ProcessTreeModel::Columns::MEMORY,
     (int)ProcessTreeModel::Columns::CPU_PERCENTAGE,
-    (int)ProcessTreeModel::Columns::UDP_SENT,
-    (int)ProcessTreeModel::Columns::UDP_RECEIVED,
+    (int)ProcessTreeModel::Columns::DATAWRITE,
+    (int)ProcessTreeModel::Columns::DATAREAD,
   };
   setVisibleColumns(default_visible_columns);
 
@@ -114,8 +114,8 @@ void ProcessWidget::autoSizeColumns()
   example_process_pb.set_pmemory(99999999999);
   example_process_pb.set_pcpu(1000);
   example_process_pb.set_usrptime(999999.9999f);
-  example_process_pb.set_udpsbytes(999999);
-  example_process_pb.set_udprbytes(999999);
+  example_process_pb.set_datawrite(99999999999);
+  example_process_pb.set_dataread(99999999999);
 
   example_process_pb.mutable_state()->set_severity(eCAL::pb::eProcessSeverity::proc_sev_warning);
   example_process_pb.mutable_state()->set_severity_level(eCAL::pb::eProcessSeverityLevel::proc_sev_level5);
@@ -139,8 +139,8 @@ void ProcessWidget::autoSizeColumns()
     (int)ProcessTreeModel::Columns::MEMORY,
     (int)ProcessTreeModel::Columns::CPU_PERCENTAGE,
     (int)ProcessTreeModel::Columns::USER_TIME,
-    (int)ProcessTreeModel::Columns::UDP_SENT,
-    (int)ProcessTreeModel::Columns::UDP_RECEIVED,
+    (int)ProcessTreeModel::Columns::DATAWRITE,
+    (int)ProcessTreeModel::Columns::DATAREAD,
     (int)ProcessTreeModel::Columns::TIMESYNC_MODE,
   };
 
diff --git a/app/mon/eCALMon/src/Widgets/Models/ProcessTreeItem.cpp b/app/mon/eCALMon/src/Widgets/Models/ProcessTreeItem.cpp
index b97c8342b3..f69bda4792 100644
--- a/app/mon/eCALMon/src/Widgets/Models/ProcessTreeItem.cpp
+++ b/app/mon/eCALMon/src/Widgets/Models/ProcessTreeItem.cpp
@@ -89,13 +89,13 @@ QVariant ProcessTreeItem::data(Columns column, Qt::ItemDataRole role) const
     {
       return process_.usrptime();
     }
-    else if (column == Columns::UDPSBYTES)
+    else if (column == Columns::DATAWRITE)
     {
-      return process_.udpsbytes();
+      return (long long)process_.datawrite();
     }
-    else if (column == Columns::UDPRBYTES)
+    else if (column == Columns::DATAREAD)
     {
-      return process_.udprbytes();
+      return (long long)process_.dataread();
     }
     else if (column == Columns::SEVERITY)
     {
@@ -212,8 +212,8 @@ QVariant ProcessTreeItem::data(Columns column, Qt::ItemDataRole role) const
       || (column == Columns::PMEMORY)
       || (column == Columns::PCPU)
       || (column == Columns::USRPTIME)
-      || (column == Columns::UDPSBYTES)
-      || (column == Columns::UDPRBYTES)
+      || (column == Columns::DATAWRITE)
+      || (column == Columns::DATAREAD)
       )
     {
       return Qt::AlignmentFlag::AlignRight;
diff --git a/app/mon/eCALMon/src/Widgets/Models/ProcessTreeItem.h b/app/mon/eCALMon/src/Widgets/Models/ProcessTreeItem.h
index 5078b9613a..f27a6a5667 100644
--- a/app/mon/eCALMon/src/Widgets/Models/ProcessTreeItem.h
+++ b/app/mon/eCALMon/src/Widgets/Models/ProcessTreeItem.h
@@ -46,8 +46,8 @@ class ProcessTreeItem :
     PMEMORY,
     PCPU,
     USRPTIME,
-    UDPSBYTES,
-    UDPRBYTES,
+    DATAWRITE,
+    DATAREAD,
     SEVERITY,
     INFO,
     TSYNC_MODE,
diff --git a/app/mon/eCALMon/src/Widgets/Models/ProcessTreeModel.h b/app/mon/eCALMon/src/Widgets/Models/ProcessTreeModel.h
index 232c98074f..159cdc4d5d 100644
--- a/app/mon/eCALMon/src/Widgets/Models/ProcessTreeModel.h
+++ b/app/mon/eCALMon/src/Widgets/Models/ProcessTreeModel.h
@@ -57,8 +57,8 @@ class ProcessTreeModel : public GroupTreeModel
     MEMORY,
     CPU_PERCENTAGE,
     USER_TIME,
-    UDP_SENT,
-    UDP_RECEIVED,
+    DATAWRITE,
+    DATAREAD,
     TIMESYNC_MODE,
 
     COLUMN_COUNT
@@ -94,8 +94,8 @@ class ProcessTreeModel : public GroupTreeModel
     { Columns::MEMORY,        "RAM [KiB]" },
     { Columns::CPU_PERCENTAGE,"CPU %" },
     { Columns::USER_TIME,     "User Time" },
-    { Columns::UDP_SENT,      "UDP Sent [Byte/s]" },
-    { Columns::UDP_RECEIVED,  "UDP Rec [Byte/s]" },
+    { Columns::DATAWRITE,     "Data Write [Byte/s]" },
+    { Columns::DATAREAD,      "Data Read [Byte/s]" },
     { Columns::TIMESYNC_MODE, "Timesync Mode" },
   };
 
@@ -113,8 +113,8 @@ class ProcessTreeModel : public GroupTreeModel
     { Columns::CPU_PERCENTAGE, (int)ProcessTreeItem::Columns::PCPU },
     { Columns::MEMORY,         (int)ProcessTreeItem::Columns::PMEMORY },
     { Columns::USER_TIME,      (int)ProcessTreeItem::Columns::USRPTIME },
-    { Columns::UDP_SENT,       (int)ProcessTreeItem::Columns::UDPSBYTES },
-    { Columns::UDP_RECEIVED,   (int)ProcessTreeItem::Columns::UDPRBYTES },
+    { Columns::DATAWRITE,      (int)ProcessTreeItem::Columns::DATAWRITE },
+    { Columns::DATAREAD,       (int)ProcessTreeItem::Columns::DATAREAD },
     { Columns::TIMESYNC_MODE,  (int)ProcessTreeItem::Columns::TSYNC_MODE },
 
   };
diff --git a/app/mon/eCALMonPlugins/CMakeLists.txt b/app/mon/eCALMonPlugins/CMakeLists.txt
index 51cfbdfbda..34f577c8eb 100644
--- a/app/mon/eCALMonPlugins/CMakeLists.txt
+++ b/app/mon/eCALMonPlugins/CMakeLists.txt
@@ -15,8 +15,12 @@
 # limitations under the License.
 #
 # ========================= eCAL LICENSE =================================
+
 #add_subdirectory(DummyPlugin)
 add_subdirectory(MonitorTreeView)
 add_subdirectory(ProtobufReflection)
+if (HAS_CAPNPROTO)
+add_subdirectory(CapnprotoReflection)
+endif (HAS_CAPNPROTO)
 add_subdirectory(RawDataReflection)
 add_subdirectory(StringReflection)
\ No newline at end of file
diff --git a/app/mon/eCALMonPlugins/CapnprotoReflection/CMakeLists.txt b/app/mon/eCALMonPlugins/CapnprotoReflection/CMakeLists.txt
new file mode 100644
index 0000000000..bcc3a0a633
--- /dev/null
+++ b/app/mon/eCALMonPlugins/CapnprotoReflection/CMakeLists.txt
@@ -0,0 +1,69 @@
+# ========================= eCAL LICENSE =================================
+#
+# Copyright (C) 2016 - 2019 Continental Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+# 
+#      http://www.apache.org/licenses/LICENSE-2.0
+# 
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# ========================= eCAL LICENSE =================================
+
+project(mon_plugin_capnproto_reflection)
+
+find_package(Qt5 COMPONENTS
+    Core
+    Widgets
+REQUIRED)
+
+find_package(CapnProto REQUIRED)
+
+if(POLICY CMP0071)
+  cmake_policy(SET CMP0071 OLD)
+endif()
+
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_AUTOUIC OFF) # Reason for being turned off: AutoUIC will prevent VS from detecting changes in .ui files
+set(CMAKE_AUTORCC OFF) # Reason for being turned off: AutoRCC will create an entirely new project in VS which clutters the solution appearance. Additionally, we cannot assign a source group to the generated .cpp files which will clutter the project.
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+
+set(${PROJECT_NAME}_src
+  src/CapnprotoTreeBuilder.cpp
+  src/PluginWidget.cpp
+  src/Plugin.cpp
+)
+
+set(${PROJECT_NAME}_header
+  src/CapnprotoTreeBuilder.h
+  src/PluginWidget.h
+  src/Plugin.h
+)
+
+set(${PROJECT_NAME}_ui
+  src/PluginWidget.ui
+)
+
+qt5_wrap_ui(autogen_ui ${${PROJECT_NAME}_ui})
+
+ecal_add_mon_plugin(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_src} ${${PROJECT_NAME}_header} ${${PROJECT_NAME}_ui} ${autogen_ui})
+
+target_link_libraries (${PROJECT_NAME} Qt5::Widgets eCAL::core CapnProto::capnp CustomQt eCAL::mon_plugin_lib MonitorTreeView)
+target_link_options(${PROJECT_NAME} PRIVATE $<$<CXX_COMPILER_ID:MSVC>:/ignore:4099>)
+
+target_include_directories(${PROJECT_NAME} PRIVATE src)
+ecal_install_mon_plugin(${PROJECT_NAME})
+
+if (TARGET mon)
+add_dependencies(mon ${PROJECT_NAME})
+endif()
+
+set_target_properties(${PROJECT_NAME} PROPERTIES
+  RUNTIME_OUTPUT_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/$<CONFIGURATION>/${ECAL_MON_PLUGIN_DIR}
+  FOLDER app/mon/plugins)
\ No newline at end of file
diff --git a/app/mon/eCALMonPlugins/CapnprotoReflection/src/CapnprotoTreeBuilder.cpp b/app/mon/eCALMonPlugins/CapnprotoReflection/src/CapnprotoTreeBuilder.cpp
new file mode 100644
index 0000000000..76d7a0c18a
--- /dev/null
+++ b/app/mon/eCALMonPlugins/CapnprotoReflection/src/CapnprotoTreeBuilder.cpp
@@ -0,0 +1,303 @@
+/* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
+*/
+
+#include "CapnprotoTreeBuilder.h"
+
+#include "MonitorTreeModel.h"
+#include "MonitorTreeItem.h"
+
+#include <QSet>
+#include <QByteArray>
+#include <QtDebug>
+
+QString get_name(const capnp::StructSchema::Field& field)
+{
+  return field.getProto().getName().cStr();
+}
+
+bool hasSchema(capnp::Type type)
+{
+  auto which = type.which();
+  switch (which)
+  {
+  case capnp::schema::Type::Which::LIST:
+  case capnp::schema::Type::Which::ENUM:
+  case capnp::schema::Type::Which::STRUCT:
+  case capnp::schema::Type::Which::INTERFACE:
+    return true;
+  default:
+    return false;
+  }
+}
+
+QString primitiveTypeAsString(capnp::Type type)
+{
+  auto which = type.which();
+  switch (which)
+  {
+  case capnp::schema::Type::Which::VOID:
+    return "void";
+  case capnp::schema::Type::Which::BOOL:
+    return "bool";
+  case capnp::schema::Type::Which::INT8:
+    return "int8";
+  case capnp::schema::Type::Which::INT16:
+    return "int16";
+  case capnp::schema::Type::Which::INT32:
+    return "int32";
+  case capnp::schema::Type::Which::INT64:
+    return "int64";
+  case capnp::schema::Type::Which::UINT8:
+    return "uint8";
+  case capnp::schema::Type::Which::UINT16:
+    return "uint16";
+  case capnp::schema::Type::Which::UINT32:
+    return "uint32";
+  case capnp::schema::Type::Which::UINT64:
+    return "uint64";
+  case capnp::schema::Type::Which::FLOAT32:
+    return "float32";
+  case capnp::schema::Type::Which::FLOAT64:
+    return "float64";
+  case capnp::schema::Type::Which::TEXT:
+    return "Text";
+  case capnp::schema::Type::Which::DATA:
+    return "Data";
+  case capnp::schema::Type::Which::LIST:
+    return "List";
+  case capnp::schema::Type::Which::ENUM:
+    return "Enum";
+  case capnp::schema::Type::Which::STRUCT:
+    return "Struct";
+  case capnp::schema::Type::Which::INTERFACE:
+    return "Interface";
+  case capnp::schema::Type::Which::ANY_POINTER:
+    return "AnyPointer";
+  default:
+    return "";
+  }
+}
+
+
+QString get_type_as_string(const capnp::Type& type)
+{
+  QString type_string;
+  if (hasSchema(type))
+  {
+    if (type.isEnum())
+    {
+      type_string = type.asEnum().getShortDisplayName().cStr();
+    }
+    else if (type.isStruct())
+    {
+      type_string = type.asStruct().getShortDisplayName().cStr();
+    }
+    else if (type.isInterface())
+    {
+      type_string = type.asInterface().getShortDisplayName().cStr();
+    }
+    else if (type.isList())
+    {
+      type_string = get_type_as_string(type.asList().getElementType());
+    }
+  }
+  else
+  {
+    type_string = primitiveTypeAsString(type);
+  }
+  return type_string;
+}
+
+QString get_type(const capnp::StructSchema::Field& field)
+{
+  return get_type_as_string(field.getType());
+}
+
+
+void MonitorTreeBuilder::ArrayStart(const MessageInfo &info_, size_t elements_)
+{
+  current_tree_item = current_tree_item->getChild(static_cast<int>(info_.id));
+  current_tree_item->setMetaData({ info_.field_name ,  info_.type + "[" + QString::number(elements_) + "]", "" });
+  current_tree_item->markChildrenUnused();
+}
+
+void MonitorTreeBuilder::ArrayValue(const MessageInfo & info_, const QVariant & value_)
+{
+  auto child = current_tree_item->getChild(static_cast<int>(info_.id));
+  child->setValue(value_);
+  child->setMetaData({ info_.field_name + "[" + QString::number(info_.id) + "]", info_.type, "" });
+
+}
+
+void MonitorTreeBuilder::ArrayEnd()
+{
+  MessageEnd();
+}
+
+void MonitorTreeBuilder::MessageStart(const MessageInfo &info_)
+{
+  if (current_tree_item == nullptr)
+  {
+    current_tree_item = (MonitorTreeItem*)model->root();
+  }
+  else
+  {
+    // we need to be able to get the childe by it's name
+    current_tree_item = current_tree_item->getChild(static_cast<int>(info_.id));
+  }
+
+  current_tree_item->clearValue();
+  current_tree_item->setMetaData({ info_.field_name ,  info_.type, "" });
+  current_tree_item->markChildrenUnused();
+}
+
+void MonitorTreeBuilder::ScalarValue(const MessageInfo &info_, const QVariant & value_)
+{
+  auto child = current_tree_item->getChild(static_cast<int>(info_.id));
+  child->setValue(value_);
+  child->setMetaData({info_.field_name, info_.type, ""});
+}
+
+void MonitorTreeBuilder::MessageEnd()
+{
+  current_tree_item->deleteChildrenUnused();
+  model->updateItem(current_tree_item);
+  if (current_tree_item == model->root())
+  {
+    current_tree_item = nullptr;
+  }
+  else
+  {
+    current_tree_item = (MonitorTreeItem*)current_tree_item->parentItem();
+  }
+}
+
+QVariant DynamicValueToVariant(capnp::DynamicValue::Reader reader)
+{
+  using namespace capnp;
+
+  auto cpp_type = reader.getType();
+  if (cpp_type == DynamicValue::INT)
+  {
+    return { static_cast<qlonglong>(reader.as<int64_t>()) };
+  }
+  else if (cpp_type == DynamicValue::UINT)
+  {
+    return { static_cast<qulonglong>(reader.as<uint64_t>()) };
+  }
+  else if (cpp_type == DynamicValue::FLOAT)
+  {
+    return{ reader.as<double>() };
+  }
+  else if (cpp_type == DynamicValue::BOOL)
+  {
+    return { reader.as<bool>() };
+  }
+  else if (cpp_type == DynamicValue::VOID)
+  {
+    return { "" };
+  }
+  else if (cpp_type == DynamicValue::ENUM)
+  {
+    auto enumValue = reader.as<DynamicEnum>();
+    int raw_value = enumValue.getRaw();
+    QString name;
+    KJ_IF_MAYBE(enumerant, enumValue.getEnumerant()) {
+      name = enumerant->getProto().getName().cStr();
+    }
+    QVariant variant;
+    variant.setValue(StringEnum{ raw_value, name });
+    return variant;
+  }
+  else if (cpp_type == DynamicValue::TEXT)
+  {
+    return { reader.as<Text>().cStr() };
+  }
+  else if (cpp_type == DynamicValue::DATA)
+  {
+    auto data = reader.as<Data>();
+    auto chars{ data.asChars() };
+    QByteArray byte_array(chars.begin(), static_cast<int>(chars.size()));
+
+    return { byte_array };
+  }
+  return {};
+}
+
+void CapnprotoIterator::ProcessMessage(capnp::DynamicStruct::Reader message, const MonitorTreeBuilder::MessageInfo& parent_info)
+{
+  using namespace capnp;
+
+  auto schema = message.getSchema();
+  auto field_list = schema.getFields();
+
+  tree_builder.MessageStart(parent_info);
+
+  // iterate through fields to set data
+  for (auto field : field_list)
+  {
+    if (message.has(field))
+    {
+      auto value = message.get(field);
+      auto cpp_type = value.getType();
+      bool is_repeated = (cpp_type == DynamicValue::LIST);
+
+      if (is_repeated)
+      {
+        auto list_reader = value.as<DynamicList>();
+        size_t repeated_size{list_reader.size()};
+        MonitorTreeBuilder::MessageInfo info_array{ get_name(field) , parent_info.group_name + "." + parent_info.field_name , field.getIndex(), get_type(field)};
+        tree_builder.ArrayStart(info_array, repeated_size);
+        for (capnp::uint i = 0; i < repeated_size; i++)
+        {
+          MonitorTreeBuilder::MessageInfo info_value{ info_array.field_name , info_array.group_name, i, get_type(field) };
+          auto element = list_reader[i];
+          auto element_type = element.getType();
+          if (element_type != DynamicValue::STRUCT)
+          {
+            QVariant display_value = DynamicValueToVariant(element);
+            tree_builder.ArrayValue(info_value, display_value);
+          }
+          else
+          {
+            auto structValue = element.as<DynamicStruct>();
+            ProcessMessage(structValue, MonitorTreeBuilder::MessageInfo{ info_value.field_name + "[" + QString::number(i) + "]", info_value.group_name, i,  info_value.type});
+          }
+        }
+        tree_builder.ArrayEnd();
+      }
+      else
+      {
+        MonitorTreeBuilder::MessageInfo info{ get_name(field) , parent_info.group_name + "." + parent_info.field_name, field.getIndex(), get_type(field) };
+        if (cpp_type != DynamicValue::STRUCT)
+        {
+          QVariant display_value = DynamicValueToVariant(value);
+          tree_builder.ScalarValue(info, display_value);
+        }
+        else // if it is a struct, recursively call this function
+        {
+          auto structValue = value.as<DynamicStruct>();
+          ProcessMessage(structValue, info);
+        }
+      }
+    }
+  }
+
+  tree_builder.MessageEnd();
+}
diff --git a/app/mon/eCALMonPlugins/CapnprotoReflection/src/CapnprotoTreeBuilder.h b/app/mon/eCALMonPlugins/CapnprotoReflection/src/CapnprotoTreeBuilder.h
new file mode 100644
index 0000000000..6436e28294
--- /dev/null
+++ b/app/mon/eCALMonPlugins/CapnprotoReflection/src/CapnprotoTreeBuilder.h
@@ -0,0 +1,66 @@
+/* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
+*/
+
+#pragma once
+
+#ifdef _MSC_VER
+#pragma warning(push, 0)
+#endif /*_MSC_VER*/
+#include <capnp/dynamic.h>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif /*_MSC_VER*/
+#include "MonitorTreeModel.h"
+
+class MonitorTreeBuilder
+{
+public:
+  MonitorTreeBuilder(MonitorTreeModel* model_) : model(model_), current_tree_item(nullptr) {};
+
+  struct MessageInfo
+  {
+    QString field_name;
+    QString group_name;
+    size_t id;
+    QString type;
+  };
+
+  void MessageStart(const MessageInfo& /*info_*/);
+
+  void ArrayStart(const MessageInfo& /*info_*/, size_t /*size_*/);
+  void ArrayValue(const MessageInfo& /*info_*/, const QVariant& /*name_*/);
+  void ArrayEnd();
+
+  void ScalarValue(const MessageInfo& /*info_*/, const QVariant& value_);
+  void MessageEnd();
+
+  MonitorTreeModel* model;
+  MonitorTreeItem* current_tree_item;
+};
+
+class CapnprotoIterator
+{
+public:
+  CapnprotoIterator(MonitorTreeModel* model_) : tree_builder(model_) {}
+  void ProcessMessage(capnp::DynamicStruct::Reader message, const MonitorTreeBuilder::MessageInfo& parent_info = {});
+
+private:
+  MonitorTreeBuilder tree_builder;
+
+};
\ No newline at end of file
diff --git a/app/mon/eCALMonPlugins/CapnprotoReflection/src/Plugin.cpp b/app/mon/eCALMonPlugins/CapnprotoReflection/src/Plugin.cpp
new file mode 100644
index 0000000000..fd2364a9ab
--- /dev/null
+++ b/app/mon/eCALMonPlugins/CapnprotoReflection/src/Plugin.cpp
@@ -0,0 +1,28 @@
+/* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
+*/
+
+#include "PluginWidget.h"
+#include "Plugin.h"
+
+using namespace eCAL::mon;
+
+PluginWidgetInterface* Plugin::create(const QString& topic_name, const QString& topic_type, QWidget* parent)
+{
+  return new PluginWidget(topic_name, topic_type, parent);
+}
\ No newline at end of file
diff --git a/app/mon/eCALMonPlugins/CapnprotoReflection/src/Plugin.h b/app/mon/eCALMonPlugins/CapnprotoReflection/src/Plugin.h
new file mode 100644
index 0000000000..4dc79f11f0
--- /dev/null
+++ b/app/mon/eCALMonPlugins/CapnprotoReflection/src/Plugin.h
@@ -0,0 +1,31 @@
+/* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
+*/
+
+#pragma once
+
+#include <ecal/mon/plugin.h> 
+
+class Plugin : public QObject, public eCAL::mon::PluginInterface
+{
+  Q_OBJECT
+  Q_PLUGIN_METADATA(IID "de.conti.ecal.monitor.plugin.capnproto-reflection" FILE "metadata.json")
+  Q_INTERFACES(eCAL::mon::PluginInterface)
+public:
+  virtual eCAL::mon::PluginWidgetInterface* create(const QString& topic_name, const QString& topic_type, QWidget* parent = Q_NULLPTR);
+};
\ No newline at end of file
diff --git a/app/mon/eCALMonPlugins/CapnprotoReflection/src/PluginWidget.cpp b/app/mon/eCALMonPlugins/CapnprotoReflection/src/PluginWidget.cpp
new file mode 100644
index 0000000000..3c50071301
--- /dev/null
+++ b/app/mon/eCALMonPlugins/CapnprotoReflection/src/PluginWidget.cpp
@@ -0,0 +1,339 @@
+/* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
+*/
+
+#include "PluginWidget.h"
+
+#include <CustomQt/QStandardTreeItem.h>
+
+#include "Util.h"
+
+#include <QClipboard>
+#include <QMenu>
+#include <QDebug>
+
+#include "CapnprotoTreeBuilder.h"
+
+PluginWidget::PluginWidget(const QString& topic_name, const QString& topic_type, QWidget* parent):
+  QWidget(parent),
+  tree_view_(new QAdvancedTreeView(this)),
+  tree_model_(new MonitorTreeModel(this)),
+  subscriber_(topic_name.toStdString()),
+  capnproto_message_builder(nullptr),
+  capnproto_message_iterator(tree_model_),
+  last_message_publish_timestamp_(eCAL::Time::ecal_clock::time_point(eCAL::Time::ecal_clock::duration(-1))),
+  last_error_string_(""),
+  last_message_was_error_(false),
+  currently_showing_error_item_(true),
+  error_counter_(0),
+  topic_name_(topic_name),
+  topic_type_(topic_type),
+  new_msg_available_(false),
+  received_message_counter_(0)
+{
+  ui_.setupUi(this);
+
+  // Create the content tree
+  tree_view_->setModel(tree_model_);
+  ui_.content_layout->addWidget(tree_view_);
+
+  // Timestamp warning
+  int label_height = ui_.publish_timestamp_warning_label->sizeHint().height();
+  QPixmap warning_icon = QPixmap(":/ecalicons/WARNING").scaled(label_height, label_height, Qt::AspectRatioMode::KeepAspectRatio, Qt::TransformationMode::SmoothTransformation);
+  ui_.publish_timestamp_warning_label->setPixmap(warning_icon);
+  ui_.publish_timestamp_warning_label->setVisible(false);
+
+  // Add eCAL Callbacks
+  subscriber_.AddReceiveCallback(std::bind(&PluginWidget::onProtoMessageCallback, this, std::placeholders::_2, std::placeholders::_3));
+  //subscriber_.AddErrorCallback(std::bind(&PluginWidget::onProtoErrorCallback, this, std::placeholders::_1));
+
+  // Button connections
+  connect(ui_.expand_button, &QPushButton::clicked, [this]() { tree_view_->expandAll();   });
+  connect(ui_.collapse_button, &QPushButton::clicked, [this]() { tree_view_->collapseAll(); });
+  connect(ui_.display_blobs_checkbox, &QCheckBox::stateChanged, [this](int state) { tree_model_->setDisplayBlobs(state == Qt::CheckState::Checked); });
+
+  // Set default visible columns
+  QList<int> visible_columns
+  {
+    (int)MonitorTreeModel::Columns::FIELD_NAME,
+    (int)MonitorTreeModel::Columns::TYPE_NAME,
+    (int)MonitorTreeModel::Columns::VALUE
+  };
+  for (int i = 0; i < tree_model_->columnCount(); i++)
+  {
+    tree_view_->setColumnHidden(i, !visible_columns.contains(i));
+  }
+
+  // Save the initial state
+  initial_tree_state_ = tree_view_->saveState();
+
+  // TODO: Save/Restore States
+
+  // Add some text that tells the user that no data has been received
+  QStandardTreeItem* never_received_data_item = new QStandardTreeItem();
+  never_received_data_item->setData(0, "Haven't received any data on topic \"" + topic_name + "\", yet", Qt::ItemDataRole::DisplayRole);
+  never_received_data_item->setData(0, QColor(127, 127, 127), Qt::ItemDataRole::ForegroundRole);
+  tree_model_->insertItem(never_received_data_item);
+  tree_view_->setFirstColumnSpanned(0, QModelIndex(), true);
+
+  // Context menu
+  tree_view_->setContextMenuPolicy(Qt::ContextMenuPolicy::CustomContextMenu);
+  connect(tree_view_, &QTreeView::customContextMenuRequested, this, &PluginWidget::contextMenu);
+  connect(tree_view_, &QAdvancedTreeView::keySequenceCopyPressed, this, &PluginWidget::copySelectedRowToClipboard);
+}
+
+PluginWidget::~PluginWidget() noexcept
+{
+#ifndef NDEBUG
+  qDebug().nospace() << "[" << metaObject()->className() << "]: Deleting Widget for topic " << topic_name_;
+#endif // NDEBUG
+
+  subscriber_.RemReceiveCallback();
+  //subscriber_.RemErrorCallback();
+  
+  {
+    std::lock_guard<std::mutex> lock(capnproto_message_mutex_);
+    if (capnproto_message_builder)
+      delete capnproto_message_builder;
+  }
+}
+
+void PluginWidget::updatePublishTimeLabel()
+{
+  eCAL::Time::ecal_clock::time_point publish_time = last_message_publish_timestamp_;
+  eCAL::Time::ecal_clock::time_point receive_time = eCAL::Time::ecal_clock::now();
+
+  if (publish_time < eCAL::Time::ecal_clock::time_point(eCAL::Time::ecal_clock::duration(0)))
+    return;
+
+  auto diff = receive_time - publish_time;
+
+  if ((diff > std::chrono::milliseconds(100))
+    || (diff < std::chrono::milliseconds(-100)))
+  {
+    ui_.publish_timestamp_warning_label->setVisible(true);
+    QString diff_string = QString::number(std::chrono::duration_cast<std::chrono::duration<double>>(diff).count(), 'f', 6);
+    ui_.publish_timestamp_warning_label->setToolTip(tr("The publisher is not synchronized, properly.\nCurrent time difference: ") + diff_string + " s");
+  }
+  else
+  {
+    ui_.publish_timestamp_warning_label->setVisible(false);
+  }
+
+  QString time_string;
+
+  //if (parse_time_)
+  //{
+  //  QDateTime q_ecal_time = QDateTime::fromMSecsSinceEpoch(std::chrono::duration_cast<std::chrono::milliseconds>(publish_time.time_since_epoch()).count()).toUTC();
+  //  time_string = q_ecal_time.toString("yyyy-MM-dd HH:mm:ss.zzz");
+  //}
+  //else
+  {
+    double seconds_since_epoch = std::chrono::duration_cast<std::chrono::duration<double>>(publish_time.time_since_epoch()).count();
+    time_string = QString::number(seconds_since_epoch, 'f', 6) + " s";
+  }
+
+  ui_.publish_timestamp_label->setText(time_string);
+}
+
+////////////////////////////////////////////////////////////////////////////////
+//// Tree View Update                                                       ////
+////////////////////////////////////////////////////////////////////////////////
+
+// eCAL Callback
+void PluginWidget::onProtoMessageCallback(const capnp::DynamicStruct::Reader& message, long long send_time_usecs)
+{
+  {
+    // Lock the mutex
+    std::lock_guard<std::mutex> lock(capnproto_message_mutex_);
+
+    // Create a copy of the new message as member variable. We cannot use a reference here, as this may cause a deadlock with the GUI thread
+    if (!capnproto_message_builder)
+    {
+      capnproto_message_builder = new capnp::MallocMessageBuilder();
+    }
+    capnproto_message_builder->setRoot(message);
+    schema = message.getSchema();
+
+    last_message_publish_timestamp_ = eCAL::Time::ecal_clock::time_point(std::chrono::duration_cast<eCAL::Time::ecal_clock::duration>(std::chrono::microseconds(send_time_usecs)));
+
+    last_message_was_error_ = false;
+    error_counter_ = 0;
+
+    new_msg_available_ = true;
+    received_message_counter_++;
+  }
+}
+
+// eCAL Callback
+void PluginWidget::onProtoErrorCallback(const std::string& error)
+{
+  {
+    // Lock the mutex
+    std::lock_guard<std::mutex> lock(capnproto_message_mutex_);
+
+    // Copy the message into a member variable
+    last_error_string_ = error.c_str();
+
+    last_message_was_error_ = true;
+    error_counter_++;
+
+    new_msg_available_ = true;
+    received_message_counter_++;
+  }
+}
+
+// Actual Tree Update
+void PluginWidget::updateTree()
+{
+  std::lock_guard<std::mutex> lock(capnproto_message_mutex_);
+
+  if (last_message_was_error_)
+  {
+    // If the last message was an error, we remove everything from the
+    // tree view and replace it with a dummy error-item. We also log an eCAL
+    // error message.
+
+    eCAL::Logging::Log(eCAL_Logging_eLogLevel::log_level_error, "Error when receiving data on topic \"" + topic_name_.toStdString() + "\": " + last_error_string_.toStdString());
+
+    tree_model_->removeAllChildren();
+    currently_showing_error_item_ = true;
+    QStandardTreeItem* error_item = new QStandardTreeItem();
+    error_item->setData(0, "ERROR [" + QString::number(error_counter_) + "]: " + last_error_string_, Qt::ItemDataRole::DisplayRole);
+    error_item->setData(0, QColor(192, 0, 0), Qt::ItemDataRole::ForegroundRole);
+    tree_model_->insertItem(error_item);
+    tree_view_->setFirstColumnSpanned(0, QModelIndex(), true);
+  }
+  else
+  {
+    // If the last message was a valid message, we display that message in the
+    // tree view. If the tree view is currently showing a dummy error message,
+    // we have to remove it first.
+
+    if (currently_showing_error_item_)
+    {
+      tree_model_->removeAllChildren();
+      currently_showing_error_item_ = false;
+    }
+
+    // TODO MORGEN
+    auto builder = capnproto_message_builder->getRoot<capnp::DynamicStruct>(schema);
+    capnproto_message_iterator.ProcessMessage(builder.asReader());
+  }
+
+  new_msg_available_ = false;
+}
+
+////////////////////////////////////////////////////////////////////////////////
+//// Context Menu                                                           ////
+////////////////////////////////////////////////////////////////////////////////
+
+void PluginWidget::contextMenu(const QPoint &pos)
+{
+  auto selected_rows = tree_view_->selectionModel()->selectedRows((int)MonitorTreeModel::Columns::FIELD_NAME);
+  if (selected_rows.size() > 0)
+  {
+    QMenu context_menu(this);
+
+    QVariant header_data_variant = tree_view_->model()->headerData(tree_view_->currentIndex().column(), Qt::Orientation::Horizontal, Qt::ItemDataRole::DisplayRole);
+    QString header_data = QtUtil::variantToString(header_data_variant);
+
+    QAction* copy_element_action = new QAction(tr("Copy element (") + header_data + ")", &context_menu);
+    QAction* copy_row_action = new QAction(tr("Copy row"), &context_menu);
+
+    connect(copy_element_action, &QAction::triggered, this, &PluginWidget::copyCurrentIndexToClipboard);
+    connect(copy_row_action, &QAction::triggered, this, &PluginWidget::copySelectedRowToClipboard);
+
+    context_menu.addAction(copy_element_action);
+    context_menu.addAction(copy_row_action);
+
+    context_menu.exec(tree_view_->viewport()->mapToGlobal(pos));
+  }
+}
+
+void PluginWidget::copyCurrentIndexToClipboard() const
+{
+  auto selected_rows = tree_view_->selectionModel()->selectedRows((int)MonitorTreeModel::Columns::FIELD_NAME);;
+
+  if (selected_rows.size() > 0)
+  {
+    QModelIndex selected_row = selected_rows.first();
+
+    QModelIndex selected_index = tree_view_->model()->index(selected_row.row(), tree_view_->currentIndex().column(), selected_row.parent());
+
+    QVariant variant_data = tree_view_->model()->data(selected_index, Qt::ItemDataRole::DisplayRole);
+
+    QClipboard* clipboard = QApplication::clipboard();
+    clipboard->setText(QtUtil::variantToString(variant_data));
+  }
+}
+
+void PluginWidget::copySelectedRowToClipboard() const
+{
+  auto selected_rows = tree_view_->selectionModel()->selectedRows((int)MonitorTreeModel::Columns::FIELD_NAME);;
+
+  if (selected_rows.size() > 0)
+  {
+    auto selected_row = selected_rows.first();
+    QString clipboard_string;
+
+    for (int column = 0; column < tree_view_->model()->columnCount(); column++)
+    {
+      if (!tree_view_->isColumnHidden(column))
+      {
+        QModelIndex index = tree_view_->model()->index(selected_row.row(), column, selected_row.parent());
+        QVariant variant_data = tree_view_->model()->data(index, Qt::ItemDataRole::DisplayRole);
+        if (!clipboard_string.isEmpty())
+        {
+          clipboard_string += '\t';
+        }
+        clipboard_string += QtUtil::variantToString(variant_data);
+      }
+    }
+
+    QClipboard* clipboard = QApplication::clipboard();
+    clipboard->setText(clipboard_string);
+  }
+}
+void PluginWidget::onUpdate()
+{
+  if (new_msg_available_)
+  {
+    updateTree();
+    updatePublishTimeLabel();
+    ui_.received_message_counter_label->setText(QString::number(received_message_counter_));
+  }
+}
+
+void PluginWidget::onResume()
+{
+  // Add eCAL Callbacks
+  subscriber_.AddReceiveCallback(std::bind(&PluginWidget::onProtoMessageCallback, this, std::placeholders::_2, std::placeholders::_3));
+  //subscriber_.AddErrorCallback(std::bind(&PluginWidget::onProtoErrorCallback, this, std::placeholders::_1));
+}
+
+void PluginWidget::onPause()
+{
+  subscriber_.RemReceiveCallback();
+  //subscriber_.RemErrorCallback();
+}
+
+QWidget* PluginWidget::getWidget()
+{
+  return this;
+}
diff --git a/app/mon/eCALMonPlugins/CapnprotoReflection/src/PluginWidget.h b/app/mon/eCALMonPlugins/CapnprotoReflection/src/PluginWidget.h
new file mode 100644
index 0000000000..56ce6b1aa7
--- /dev/null
+++ b/app/mon/eCALMonPlugins/CapnprotoReflection/src/PluginWidget.h
@@ -0,0 +1,87 @@
+/* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
+*/
+
+#pragma once
+
+#include <ecal/mon/plugin.h>
+#include <ecal/ecal.h>
+#include <ecal/msg/capnproto/dynamic.h>
+
+#include <memory>
+#include <mutex>
+
+#include <CustomQt/QAdvancedTreeView.h>
+
+#include "MonitorTreeModel.h"
+#include "CapnprotoTreeBuilder.h"
+
+#include "ui_PluginWidget.h"
+
+class PluginWidget : public QWidget, public eCAL::mon::PluginWidgetInterface
+{
+  Q_OBJECT
+public:
+  PluginWidget(const QString& topic_name, const QString& topic_type, QWidget* parent = Q_NULLPTR);
+  virtual ~PluginWidget() noexcept;
+
+  virtual QWidget* getWidget();
+
+public slots:
+  virtual void onUpdate();
+
+  virtual void onResume();
+  virtual void onPause();
+
+protected:
+  Ui::PluginWidget ui_;
+
+private slots:
+  void updateTree();
+
+  void contextMenu(const QPoint &pos);
+  void copyCurrentIndexToClipboard() const;
+  void copySelectedRowToClipboard() const;
+
+private:
+  QAdvancedTreeView* tree_view_;
+  MonitorTreeModel* tree_model_;
+
+  eCAL::capnproto::CDynamicSubscriber subscriber_;
+
+  std::mutex                         capnproto_message_mutex_;
+  capnp::MallocMessageBuilder*       capnproto_message_builder;
+  capnp::StructSchema                schema;
+  CapnprotoIterator                  capnproto_message_iterator;
+  eCAL::Time::ecal_clock::time_point last_message_publish_timestamp_;
+  QString                            last_error_string_;
+  bool                               last_message_was_error_;
+
+  bool                               currently_showing_error_item_;
+  int                                error_counter_;
+
+  QByteArray                         initial_tree_state_;
+
+  QString                            topic_name_, topic_type_;
+  bool                               new_msg_available_;
+  int                                received_message_counter_;
+
+  void onProtoMessageCallback(const capnp::DynamicStruct::Reader& message, long long send_time_usecs);
+  void onProtoErrorCallback(const std::string& error);
+  void updatePublishTimeLabel();
+};
diff --git a/app/mon/eCALMonPlugins/StringReflection/src/PluginWidget.ui.autosave b/app/mon/eCALMonPlugins/CapnprotoReflection/src/PluginWidget.ui
similarity index 62%
rename from app/mon/eCALMonPlugins/StringReflection/src/PluginWidget.ui.autosave
rename to app/mon/eCALMonPlugins/CapnprotoReflection/src/PluginWidget.ui
index ee12d82b27..9ad00259d2 100644
--- a/app/mon/eCALMonPlugins/StringReflection/src/PluginWidget.ui.autosave
+++ b/app/mon/eCALMonPlugins/CapnprotoReflection/src/PluginWidget.ui
@@ -15,19 +15,67 @@
   </property>
   <layout class="QVBoxLayout" name="verticalLayout">
    <item>
-    <layout class="QHBoxLayout" name="content_layout">
+    <layout class="QHBoxLayout" name="button_layout">
      <item>
-      <widget class="QFrame" name="frame">
-       <property name="frameShape">
-        <enum>QFrame::StyledPanel</enum>
+      <widget class="QPushButton" name="expand_button">
+       <property name="minimumSize">
+        <size>
+         <width>10</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>Expand</string>
+       </property>
+       <property name="icon">
+        <iconset>
+         <normalon>:/ecalicons/EXPAND</normalon>
+        </iconset>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="collapse_button">
+       <property name="minimumSize">
+        <size>
+         <width>10</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>Collapse</string>
        </property>
-       <property name="frameShadow">
-        <enum>QFrame::Raised</enum>
+       <property name="icon">
+        <iconset resource="../../../../iconset/ecalicons.qrc">
+         <normaloff>:/ecalicons/COLLAPSE</normaloff>:/ecalicons/COLLAPSE</iconset>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <spacer name="button_spacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QCheckBox" name="display_blobs_checkbox">
+       <property name="text">
+        <string>Display Blobs</string>
        </property>
       </widget>
      </item>
     </layout>
    </item>
+   <item>
+    <layout class="QHBoxLayout" name="content_layout"/>
+   </item>
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout">
      <item>
diff --git a/app/mon/eCALMonPlugins/CapnprotoReflection/src/metadata.json b/app/mon/eCALMonPlugins/CapnprotoReflection/src/metadata.json
new file mode 100644
index 0000000000..7293c3a64b
--- /dev/null
+++ b/app/mon/eCALMonPlugins/CapnprotoReflection/src/metadata.json
@@ -0,0 +1,16 @@
+{
+  "Version": "v0.1.0",
+  "Author": "Kerstin Keller",
+  "Name": "CapnProto Reflection",
+  
+  "Priority": 1,
+  
+  "SupportedTopics": 
+    [
+      {
+		    "Format": "capnp"
+      }
+    ],
+  
+  "OptionalTopics": []
+}
\ No newline at end of file
diff --git a/app/mon/eCALMonPlugins/DummyPlugin/src/Plugin.cpp b/app/mon/eCALMonPlugins/DummyPlugin/src/Plugin.cpp
index 8438d3e4b0..fd2364a9ab 100644
--- a/app/mon/eCALMonPlugins/DummyPlugin/src/Plugin.cpp
+++ b/app/mon/eCALMonPlugins/DummyPlugin/src/Plugin.cpp
@@ -1,3 +1,22 @@
+/* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
+*/
+
 #include "PluginWidget.h"
 #include "Plugin.h"
 
diff --git a/app/mon/eCALMonPlugins/DummyPlugin/src/Plugin.h b/app/mon/eCALMonPlugins/DummyPlugin/src/Plugin.h
index 4702e0bbea..e0ab4693bd 100644
--- a/app/mon/eCALMonPlugins/DummyPlugin/src/Plugin.h
+++ b/app/mon/eCALMonPlugins/DummyPlugin/src/Plugin.h
@@ -1,3 +1,22 @@
+/* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
+*/
+
 #pragma once
 
 #include <ecal/mon/plugin.h> 
diff --git a/app/mon/eCALMonPlugins/DummyPlugin/src/PluginWidget.cpp b/app/mon/eCALMonPlugins/DummyPlugin/src/PluginWidget.cpp
index 0ceb079ab5..355a7d081f 100644
--- a/app/mon/eCALMonPlugins/DummyPlugin/src/PluginWidget.cpp
+++ b/app/mon/eCALMonPlugins/DummyPlugin/src/PluginWidget.cpp
@@ -1,20 +1,20 @@
 /* ========================= eCAL LICENSE =================================
-*
-* Copyright (C) 2016 - 2019 Continental Corporation
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*      http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*
-* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
 */
 
 #include "PluginWidget.h"
diff --git a/app/mon/eCALMonPlugins/DummyPlugin/src/PluginWidget.h b/app/mon/eCALMonPlugins/DummyPlugin/src/PluginWidget.h
index bd7667e665..38e670523d 100644
--- a/app/mon/eCALMonPlugins/DummyPlugin/src/PluginWidget.h
+++ b/app/mon/eCALMonPlugins/DummyPlugin/src/PluginWidget.h
@@ -1,20 +1,20 @@
 /* ========================= eCAL LICENSE =================================
-*
-* Copyright (C) 2016 - 2019 Continental Corporation
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*      http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*
-* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
 */
 
 #pragma once
diff --git a/app/mon/eCALMonPlugins/ProtobufReflection/CMakeLists.txt b/app/mon/eCALMonPlugins/ProtobufReflection/CMakeLists.txt
index fed9290ffc..b555a0d8ef 100644
--- a/app/mon/eCALMonPlugins/ProtobufReflection/CMakeLists.txt
+++ b/app/mon/eCALMonPlugins/ProtobufReflection/CMakeLists.txt
@@ -66,6 +66,11 @@ target_include_directories(${PROJECT_NAME} PRIVATE $<TARGET_PROPERTY:eCAL::core,
 
 ecal_install_mon_plugin(${PROJECT_NAME})
 
+if (TARGET mon)
+add_dependencies(mon ${PROJECT_NAME})
+endif()
+
 set_target_properties(${PROJECT_NAME} PROPERTIES
   RUNTIME_OUTPUT_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/$<CONFIGURATION>/${ECAL_MON_PLUGIN_DIR}
-  FOLDER app/mon/plugins)
+  FOLDER app/mon/plugins
+)
diff --git a/app/mon/eCALMonPlugins/ProtobufReflection/src/Plugin.cpp b/app/mon/eCALMonPlugins/ProtobufReflection/src/Plugin.cpp
index 4687ef0157..fd2364a9ab 100644
--- a/app/mon/eCALMonPlugins/ProtobufReflection/src/Plugin.cpp
+++ b/app/mon/eCALMonPlugins/ProtobufReflection/src/Plugin.cpp
@@ -1,20 +1,20 @@
 /* ========================= eCAL LICENSE =================================
-*
-* Copyright (C) 2016 - 2019 Continental Corporation
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*      http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*
-* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
 */
 
 #include "PluginWidget.h"
diff --git a/app/mon/eCALMonPlugins/ProtobufReflection/src/Plugin.h b/app/mon/eCALMonPlugins/ProtobufReflection/src/Plugin.h
index 96fea558df..ff44e3821b 100644
--- a/app/mon/eCALMonPlugins/ProtobufReflection/src/Plugin.h
+++ b/app/mon/eCALMonPlugins/ProtobufReflection/src/Plugin.h
@@ -1,20 +1,20 @@
 /* ========================= eCAL LICENSE =================================
-*
-* Copyright (C) 2016 - 2019 Continental Corporation
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*      http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*
-* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
 */
 
 #pragma once
diff --git a/app/mon/eCALMonPlugins/ProtobufReflection/src/PluginWidget.cpp b/app/mon/eCALMonPlugins/ProtobufReflection/src/PluginWidget.cpp
index b5738c351c..613243d202 100644
--- a/app/mon/eCALMonPlugins/ProtobufReflection/src/PluginWidget.cpp
+++ b/app/mon/eCALMonPlugins/ProtobufReflection/src/PluginWidget.cpp
@@ -1,20 +1,20 @@
 /* ========================= eCAL LICENSE =================================
-*
-* Copyright (C) 2016 - 2019 Continental Corporation
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*      http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*
-* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
 */
 
 #include "PluginWidget.h"
diff --git a/app/mon/eCALMonPlugins/ProtobufReflection/src/PluginWidget.h b/app/mon/eCALMonPlugins/ProtobufReflection/src/PluginWidget.h
index 675130498a..d7c4750419 100644
--- a/app/mon/eCALMonPlugins/ProtobufReflection/src/PluginWidget.h
+++ b/app/mon/eCALMonPlugins/ProtobufReflection/src/PluginWidget.h
@@ -1,20 +1,20 @@
 /* ========================= eCAL LICENSE =================================
-*
-* Copyright (C) 2016 - 2019 Continental Corporation
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*      http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*
-* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
 */
 
 #pragma once
diff --git a/app/mon/eCALMonPlugins/ProtobufReflection/src/ProtobufTreeBuilder.cpp b/app/mon/eCALMonPlugins/ProtobufReflection/src/ProtobufTreeBuilder.cpp
index 1e75da742a..7757af5850 100644
--- a/app/mon/eCALMonPlugins/ProtobufReflection/src/ProtobufTreeBuilder.cpp
+++ b/app/mon/eCALMonPlugins/ProtobufReflection/src/ProtobufTreeBuilder.cpp
@@ -1,3 +1,22 @@
+/* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
+*/
+
 #include "ProtobufTreeBuilder.h"
 
 void ProtobufTreeBuilder::ArrayStart(const eCAL::protobuf::MessageInfo& info_, const google::protobuf::FieldDescriptor::Type &, size_t elements_)
diff --git a/app/mon/eCALMonPlugins/ProtobufReflection/src/ProtobufTreeBuilder.h b/app/mon/eCALMonPlugins/ProtobufReflection/src/ProtobufTreeBuilder.h
index 907df2eeab..20ea208ad4 100644
--- a/app/mon/eCALMonPlugins/ProtobufReflection/src/ProtobufTreeBuilder.h
+++ b/app/mon/eCALMonPlugins/ProtobufReflection/src/ProtobufTreeBuilder.h
@@ -1,20 +1,20 @@
 /* ========================= eCAL LICENSE =================================
-*
-* Copyright (C) 2016 - 2019 Continental Corporation
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*      http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*
-* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
 */
 
 #pragma once
@@ -68,6 +68,5 @@ class ProtobufTreeBuilder : public eCAL::protobuf::MessageVisitor
   void MessageEnd();
 
   MonitorTreeModel* model;
-  std::stack<MonitorTreeItem*> stack;
   MonitorTreeItem* current_tree_item;
 };
\ No newline at end of file
diff --git a/app/mon/eCALMonPlugins/RawDataReflection/CMakeLists.txt b/app/mon/eCALMonPlugins/RawDataReflection/CMakeLists.txt
index 4b8077b119..3f8f1321ee 100644
--- a/app/mon/eCALMonPlugins/RawDataReflection/CMakeLists.txt
+++ b/app/mon/eCALMonPlugins/RawDataReflection/CMakeLists.txt
@@ -62,6 +62,10 @@ target_include_directories(${PROJECT_NAME} PRIVATE $<TARGET_PROPERTY:eCAL::core,
 
 ecal_install_mon_plugin(${PROJECT_NAME})
 
+if (TARGET mon)
+add_dependencies(mon ${PROJECT_NAME})
+endif()
+
 set_target_properties(${PROJECT_NAME} PROPERTIES
   RUNTIME_OUTPUT_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/$<CONFIGURATION>/${ECAL_MON_PLUGIN_DIR}
   FOLDER app/mon/plugins)
diff --git a/app/mon/eCALMonPlugins/RawDataReflection/src/Plugin.cpp b/app/mon/eCALMonPlugins/RawDataReflection/src/Plugin.cpp
index 8438d3e4b0..fd2364a9ab 100644
--- a/app/mon/eCALMonPlugins/RawDataReflection/src/Plugin.cpp
+++ b/app/mon/eCALMonPlugins/RawDataReflection/src/Plugin.cpp
@@ -1,3 +1,22 @@
+/* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
+*/
+
 #include "PluginWidget.h"
 #include "Plugin.h"
 
diff --git a/app/mon/eCALMonPlugins/RawDataReflection/src/Plugin.h b/app/mon/eCALMonPlugins/RawDataReflection/src/Plugin.h
index f7bbba52f4..c55045aed8 100644
--- a/app/mon/eCALMonPlugins/RawDataReflection/src/Plugin.h
+++ b/app/mon/eCALMonPlugins/RawDataReflection/src/Plugin.h
@@ -1,3 +1,22 @@
+/* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
+*/
+
 #pragma once
 
 #include <ecal/mon/plugin.h> 
diff --git a/app/mon/eCALMonPlugins/RawDataReflection/src/PluginWidget.cpp b/app/mon/eCALMonPlugins/RawDataReflection/src/PluginWidget.cpp
index 5e7809c4db..4bfd8f3417 100644
--- a/app/mon/eCALMonPlugins/RawDataReflection/src/PluginWidget.cpp
+++ b/app/mon/eCALMonPlugins/RawDataReflection/src/PluginWidget.cpp
@@ -1,20 +1,20 @@
 /* ========================= eCAL LICENSE =================================
-*
-* Copyright (C) 2016 - 2019 Continental Corporation
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*      http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*
-* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
 */
 
 #include "PluginWidget.h"
diff --git a/app/mon/eCALMonPlugins/RawDataReflection/src/PluginWidget.h b/app/mon/eCALMonPlugins/RawDataReflection/src/PluginWidget.h
index 19f51fe0ad..8d58710361 100644
--- a/app/mon/eCALMonPlugins/RawDataReflection/src/PluginWidget.h
+++ b/app/mon/eCALMonPlugins/RawDataReflection/src/PluginWidget.h
@@ -1,20 +1,20 @@
 /* ========================= eCAL LICENSE =================================
-*
-* Copyright (C) 2016 - 2019 Continental Corporation
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*      http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*
-* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
 */
 
 #pragma once
diff --git a/app/mon/eCALMonPlugins/StringReflection/CMakeLists.txt b/app/mon/eCALMonPlugins/StringReflection/CMakeLists.txt
index 11c024abe8..b714eef96e 100644
--- a/app/mon/eCALMonPlugins/StringReflection/CMakeLists.txt
+++ b/app/mon/eCALMonPlugins/StringReflection/CMakeLists.txt
@@ -62,6 +62,10 @@ target_include_directories(${PROJECT_NAME} PRIVATE $<TARGET_PROPERTY:eCAL::core,
 
 ecal_install_mon_plugin(${PROJECT_NAME})
 
+if (TARGET mon)
+add_dependencies(mon ${PROJECT_NAME})
+endif()
+
 set_target_properties(${PROJECT_NAME} PROPERTIES
   RUNTIME_OUTPUT_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/$<CONFIGURATION>/${ECAL_MON_PLUGIN_DIR}
   FOLDER app/mon/plugins)
diff --git a/app/mon/eCALMonPlugins/StringReflection/src/Plugin.cpp b/app/mon/eCALMonPlugins/StringReflection/src/Plugin.cpp
index 8438d3e4b0..fd2364a9ab 100644
--- a/app/mon/eCALMonPlugins/StringReflection/src/Plugin.cpp
+++ b/app/mon/eCALMonPlugins/StringReflection/src/Plugin.cpp
@@ -1,3 +1,22 @@
+/* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
+*/
+
 #include "PluginWidget.h"
 #include "Plugin.h"
 
diff --git a/app/mon/eCALMonPlugins/StringReflection/src/Plugin.h b/app/mon/eCALMonPlugins/StringReflection/src/Plugin.h
index 467d1be670..f5cff7c814 100644
--- a/app/mon/eCALMonPlugins/StringReflection/src/Plugin.h
+++ b/app/mon/eCALMonPlugins/StringReflection/src/Plugin.h
@@ -15,7 +15,7 @@
  * limitations under the License.
  *
  * ========================= eCAL LICENSE =================================
- */
+*/
 
 #pragma once
 
diff --git a/app/mon/eCALMonPlugins/StringReflection/src/PluginWidget.cpp b/app/mon/eCALMonPlugins/StringReflection/src/PluginWidget.cpp
index 12db13d75c..6c5fae7bd6 100644
--- a/app/mon/eCALMonPlugins/StringReflection/src/PluginWidget.cpp
+++ b/app/mon/eCALMonPlugins/StringReflection/src/PluginWidget.cpp
@@ -1,20 +1,20 @@
 /* ========================= eCAL LICENSE =================================
-*
-* Copyright (C) 2016 - 2019 Continental Corporation
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*      http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*
-* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
 */
 
 #include "PluginWidget.h"
diff --git a/app/mon/eCALMonPlugins/StringReflection/src/PluginWidget.h b/app/mon/eCALMonPlugins/StringReflection/src/PluginWidget.h
index d0b3215882..18a7ce2655 100644
--- a/app/mon/eCALMonPlugins/StringReflection/src/PluginWidget.h
+++ b/app/mon/eCALMonPlugins/StringReflection/src/PluginWidget.h
@@ -1,20 +1,20 @@
 /* ========================= eCAL LICENSE =================================
-*
-* Copyright (C) 2016 - 2019 Continental Corporation
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*      http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*
-* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
 */
 
 #pragma once
diff --git a/cmake/eCALConfig.cmake.in b/cmake/eCALConfig.cmake.in
index ee5bf0ecb4..953d935ee0 100644
--- a/cmake/eCALConfig.cmake.in
+++ b/cmake/eCALConfig.cmake.in
@@ -22,7 +22,7 @@
 set(ECAL_LAYER_FASTRTPS      "@ECAL_LAYER_FASTRTPS@")
 set(eCAL_install_samples_dir "@eCAL_install_samples_dir@")
 
-set(eCAL_VERSION_MAYOR  @eCAL_VERSION_MAYOR@)
+set(eCAL_VERSION_MAJOR  @eCAL_VERSION_MAJOR@)
 set(eCAL_VERSION_MINOR  @eCAL_VERSION_MINOR@)
 set(eCAL_VERSION_PATCH  @eCAL_VERSION_PATCH@)
 set(eCAL_VERSION_STRING @eCAL_VERSION_STRING@)
diff --git a/cmake/helper_functions/ecal_add_functions.cmake b/cmake/helper_functions/ecal_add_functions.cmake
index f5893ec78a..9c0195c433 100644
--- a/cmake/helper_functions/ecal_add_functions.cmake
+++ b/cmake/helper_functions/ecal_add_functions.cmake
@@ -22,7 +22,7 @@ function(ecal_add_app_console TARGET_NAME)
   ecal_set_subsystem_console(${TARGET_NAME})
   set_target_properties(${TARGET_NAME} PROPERTIES
     VERSION ${eCAL_VERSION_STRING}
-    SOVERSION ${eCAL_VERSION_MAYOR}
+    SOVERSION ${eCAL_VERSION_MAJOR}
     OUTPUT_NAME ecal_${TARGET_NAME})
 endfunction()
 
@@ -40,7 +40,7 @@ function(ecal_add_gtest TARGET_NAME)
   #ecal_set_subsystem_windows(${TARGET_NAME})
   set_target_properties(${TARGET_NAME} PROPERTIES
     VERSION ${eCAL_VERSION_STRING}
-    SOVERSION ${eCAL_VERSION_MAYOR}
+    SOVERSION ${eCAL_VERSION_MAJOR}
     OUTPUT_NAME ecal_${TARGET_NAME})
 endfunction()
 
@@ -49,7 +49,7 @@ function(ecal_add_app_gui TARGET_NAME)
   ecal_set_subsystem_windows(${TARGET_NAME})
   set_target_properties(${TARGET_NAME} PROPERTIES
     VERSION ${eCAL_VERSION_STRING}
-    SOVERSION ${eCAL_VERSION_MAYOR}
+    SOVERSION ${eCAL_VERSION_MAJOR}
     OUTPUT_NAME ecal_${TARGET_NAME})
     set_property(INSTALL "${eCAL_install_app_dir}/$<TARGET_FILE_NAME:${TARGET_NAME}>" PROPERTY CPACK_START_MENU_SHORTCUTS "${TARGET_NAME}")
 endfunction()
@@ -58,7 +58,7 @@ function(ecal_add_app_qt TARGET_NAME)
   add_executable(${TARGET_NAME} ${ARGN})
   set_target_properties(${TARGET_NAME} PROPERTIES
     VERSION ${eCAL_VERSION_STRING}
-    SOVERSION ${eCAL_VERSION_MAYOR}
+    SOVERSION ${eCAL_VERSION_MAJOR}
     OUTPUT_NAME ecal_${TARGET_NAME})
   if(WIN32)
     set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "/SUBSYSTEM:WINDOWS /ENTRY:mainCRTStartup")
@@ -83,7 +83,7 @@ function(ecal_add_ecal_shared_library TARGET_NAME)
   add_library(${TARGET_NAME} SHARED ${ARGN})
   set_target_properties(${TARGET_NAME} PROPERTIES
     VERSION ${eCAL_VERSION_STRING}
-    SOVERSION ${eCAL_VERSION_MAYOR}
+    SOVERSION ${eCAL_VERSION_MAJOR}
     OUTPUT_NAME ecal_${TARGET_NAME})
 endfunction()
 
@@ -92,7 +92,7 @@ function(ecal_add_ecal_static_library TARGET_NAME)
   add_library(${TARGET_NAME} STATIC ${ARGN})
   set_target_properties(${TARGET_NAME} PROPERTIES
     VERSION ${eCAL_VERSION_STRING}
-    SOVERSION ${eCAL_VERSION_MAYOR}
+    SOVERSION ${eCAL_VERSION_MAJOR}
     OUTPUT_NAME ecal_${TARGET_NAME}
     POSITION_INDEPENDENT_CODE ON)
 endfunction()
@@ -110,7 +110,7 @@ function(ecal_add_shared_library TARGET_NAME)
   add_library(${TARGET_NAME} SHARED ${ARGN})
   set_target_properties(${TARGET_NAME} PROPERTIES
     VERSION ${eCAL_VERSION_STRING}
-    SOVERSION ${eCAL_VERSION_MAYOR}
+    SOVERSION ${eCAL_VERSION_MAJOR}
     OUTPUT_NAME ecal_${TARGET_NAME})
 endfunction()
 
@@ -119,7 +119,7 @@ function(ecal_add_static_library TARGET_NAME)
   set_property(TARGET ${TARGET_NAME} PROPERTY POSITION_INDEPENDENT_CODE ON)
   set_target_properties(${TARGET_NAME} PROPERTIES 
     VERSION ${eCAL_VERSION_STRING}
-    SOVERSION ${eCAL_VERSION_MAYOR}
+    SOVERSION ${eCAL_VERSION_MAJOR}
     OUTPUT_NAME ecal_${TARGET_NAME})
 endfunction()
 
@@ -139,7 +139,7 @@ function(ecal_add_sample TARGET_NAME)
   add_executable(${TARGET_NAME} ${ARGN})
   set_target_properties(${TARGET_NAME} PROPERTIES
     VERSION ${eCAL_VERSION_STRING}
-    SOVERSION ${eCAL_VERSION_MAYOR}
+    SOVERSION ${eCAL_VERSION_MAJOR}
     OUTPUT_NAME ecal_sample_${TARGET_NAME})
 endfunction()
 
diff --git a/contrib/ecaltime/linuxptp/src/CMakeLists.txt b/contrib/ecaltime/linuxptp/src/CMakeLists.txt
index f096ed7a27..ef90fda0ae 100644
--- a/contrib/ecaltime/linuxptp/src/CMakeLists.txt
+++ b/contrib/ecaltime/linuxptp/src/CMakeLists.txt
@@ -16,10 +16,10 @@
 #
 # ========================= eCAL LICENSE =================================
 
-find_package(simpleini REQUIRED)
-
 project(ecaltime-linuxptp)
 
+find_package(simpleini REQUIRED)
+
 set(ecal_time_linuxptp_src
   ecal_time_linuxptp.cpp
   ecaltime.cpp
diff --git a/doc/CMakeLists.txt b/doc/CMakeLists.txt
index 75d90e21fe..f541f7ab1a 100644
--- a/doc/CMakeLists.txt
+++ b/doc/CMakeLists.txt
@@ -1,3 +1,21 @@
+# ========================= eCAL LICENSE =================================
+#
+# Copyright (C) 2016 - 2019 Continental Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+# 
+#      http://www.apache.org/licenses/LICENSE-2.0
+# 
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# ========================= eCAL LICENSE =================================
+
 find_package(Doxygen REQUIRED)
 
 # Find prerequisites for generating the documentation
diff --git a/ecal/core/cfg/ecal.ini b/ecal/core/cfg/ecal.ini
index 68c9ed86f9..562d3b900e 100644
--- a/ecal/core/cfg/ecal.ini
+++ b/ecal/core/cfg/ecal.ini
@@ -112,8 +112,7 @@ domain                    = eCAL
 ;
 ; memfile_reserve           = 20 .. x %              dynamic file size reserve before recreating memory file if topic size changes
 ;
-; memfile_ack_timeout_qos_1 = 0 .. x ms              timeout for ack event for "best effort" qos
-; memfile_ack_timeout_qos_2 = 0 .. x ms              timeout for ack event for "reliable" qos
+; memfile_ack_timeout       = 0 .. x ms              publisher timeout for ack event from subscriber that memory file content is processed
 ;
 ; share_ttype               = 0, 1                   share topic type via registration layer
 ; share_tdesc               = 0, 1                   share topic description via registration layer
@@ -129,8 +128,7 @@ use_rtps                  = 0
 
 memfile_minsize           = 4096
 memfile_reserve           = 50
-memfile_ack_timeout_qos_1 = 10
-memfile_ack_timeout_qos_2 = 100
+memfile_ack_timeout       = 0
 
 share_ttype               = 1
 share_tdesc               = 1
diff --git a/ecal/core/include/ecal/cimpl/ecal_process_cimpl.h b/ecal/core/include/ecal/cimpl/ecal_process_cimpl.h
index 566da7ae77..e2d5609328 100644
--- a/ecal/core/include/ecal/cimpl/ecal_process_cimpl.h
+++ b/ecal/core/include/ecal/cimpl/ecal_process_cimpl.h
@@ -122,30 +122,40 @@ extern "C"
   ECALC_API unsigned long eCAL_Process_GetProcessMemory();
 
   /**
-   * @brief  Get the send clock of the current process. 
-   *
-   * @return  The message send count per second. 
+  * @deprecated  Use the function eCAL_Process_GetWClock() instead
   **/
   ECALC_API long long eCAL_Process_GetSClock();
 
   /**
-   * @brief  Get the send bytes of the current process. 
-   *
-   * @return  The message send bytes per second. 
+  * @deprecated  Use the function eCAL_Process_GetWBytes() instead
   **/
   ECALC_API long long eCAL_Process_GetSBytes();
 
   /**
-   * @brief  Get the receive clock of the current process. 
+   * @brief  Get the write clock of the current process. 
+   *
+   * @return  The message write count per second. 
+  **/
+  ECALC_API long long eCAL_Process_GetWClock();
+
+  /**
+   * @brief  Get the write bytes of the current process. 
+   *
+   * @return  The message write bytes per second. 
+  **/
+  ECALC_API long long eCAL_Process_GetWBytes();
+
+  /**
+   * @brief  Get the read clock of the current process. 
    *
-   * @return  The message receive count per second. 
+   * @return  The message read count per second. 
   **/
   ECALC_API long long eCAL_Process_GetRClock();
 
   /**
-   * @brief  Get the receive bytes of the current process. 
+   * @brief  Get the read bytes of the current process. 
    *
-   * @return  The message receive bytes per second. 
+   * @return  The message read bytes per second. 
   **/
   ECALC_API long long eCAL_Process_GetRBytes();
 
diff --git a/ecal/core/include/ecal/ecal_process.h b/ecal/core/include/ecal/ecal_process.h
index d425fc5fce..8b6298f7ed 100644
--- a/ecal/core/include/ecal/ecal_process.h
+++ b/ecal/core/include/ecal/ecal_process.h
@@ -120,30 +120,43 @@ namespace eCAL
     ECAL_API unsigned long GetProcessMemory();
 
     /**
-     * @brief  Get the send clock of the current process. 
-     *
-     * @return  The message send count per second. 
+     * @deprecated  Use the function GetWClock() instead
     **/
+    [[deprecated("use GetWClock() instead")]]
     ECAL_API long long GetSClock();
 
     /**
-     * @brief  Get the send bytes of the current process. 
-     *
-     * @return  The message send bytes per second. 
+     * @deprecated  Use the function GetWBytes() instead
     **/
+
+    [[deprecated("use GetWBytes() instead")]]
     ECAL_API long long GetSBytes();
 
     /**
-     * @brief  Get the receive clock of the current process. 
+     * @brief  Get the write clock of the current process. 
+     *
+     * @return  The message write count per second. 
+    **/
+    ECAL_API long long GetWClock();
+
+    /**
+     * @brief  Get the write bytes of the current process. 
+     *
+     * @return  The message write bytes per second. 
+    **/
+    ECAL_API long long GetWBytes();
+
+    /**
+     * @brief  Get the read clock of the current process. 
      *
-     * @return  The message receive count per second. 
+     * @return  The message read count per second. 
     **/
     ECAL_API long long GetRClock();
 
     /**
-     * @brief  Get the receive bytes of the current process. 
+     * @brief  Get the read bytes of the current process. 
      *
-     * @return  The message receive bytes per second. 
+     * @return  The message read bytes per second. 
     **/
     ECAL_API long long GetRBytes();
 
@@ -310,15 +323,27 @@ namespace eCAL
     {
       return(eCAL_Process_GetProcessMemory());
     }
-
+    
+    [[deprecated("use GetWClock() instead")]]
     inline long long GetSClock()
     {
-      return(eCAL_Process_GetSClock());
+      return(eCAL_Process_GetWClock());
     }
 
+    [[deprecated("use GetWBytes() instead")]]
     inline long long GetSBytes()
     {
-      return(eCAL_Process_GetSBytes());
+      return(eCAL_Process_GetWBytes());
+    }
+
+    inline long long GetWClock()
+    {
+      return(eCAL_Process_GetWClock());
+    }
+
+    inline long long GetWBytes()
+    {
+      return(eCAL_Process_GetWBytes());
     }
 
     inline long long GetRClock()
diff --git a/ecal/core/include/ecal/msg/capnproto/dynamic.h b/ecal/core/include/ecal/msg/capnproto/dynamic.h
new file mode 100644
index 0000000000..3f0b28a23a
--- /dev/null
+++ b/ecal/core/include/ecal/msg/capnproto/dynamic.h
@@ -0,0 +1,202 @@
+/* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * 
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ * 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
+*/
+
+/**
+ * @file   dynamic.h
+ * @brief  eCAL dynamic subscriber interface for Cap'n Proto  message definitions
+**/
+
+#ifdef _MSC_VER
+#pragma warning(push, 0)
+#endif /*_MSC_VER*/
+#include <capnp/schema.h>
+#include <capnp/schema-loader.h>
+#include <capnp/dynamic.h>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif /*_MSC_VER*/
+
+#include <ecal/msg/capnproto/subscriber.h>
+#include <ecal/msg/capnproto/helper.h>
+
+namespace eCAL
+{
+
+  namespace capnproto
+  {
+    class CDynamicSubscriber
+    {
+    public:
+      /**
+      * @brief  Constructor.
+      **/
+      CDynamicSubscriber()
+        : subscriber()
+        , builder()
+        , initialized(false)
+      {
+      }
+
+      /**
+      * @brief  Constructor.
+      *
+      * @param topic_name_  Unique topic name.
+      **/
+      CDynamicSubscriber(const std::string& topic_name_)
+        : subscriber(topic_name_, GetTypeName(), GetDescription())
+        , builder()
+        , initialized(false)
+      {
+      }
+
+      /**
+      * @brief  Copy Constructor is not available.
+      **/
+      CDynamicSubscriber(const CDynamicSubscriber&) = delete;
+
+      /**
+      * @brief  Copy Constructor is not available.
+      **/
+      CDynamicSubscriber& operator=(const CDynamicSubscriber&) = delete;
+
+      /**
+      * @brief  Move Constructor
+      **/
+      CDynamicSubscriber(CDynamicSubscriber&&) = default;
+
+      /**
+      * @brief  Move assignment
+      **/
+      CDynamicSubscriber& operator=(CDynamicSubscriber&&) = default;
+
+      /**
+      * @brief eCAL protobuf message receive callback function
+      *
+      * @param topic_name_  Topic name of the data source (publisher).
+      * @param msg_         Protobuf message content.
+      * @param time_        Message time stamp.
+      **/
+      typedef std::function<void(const char* topic_name_, typename capnp::DynamicStruct::Reader msg_, long long time_, long long clock_, long long id_)> CapnpDynamicMsgCallbackT;
+
+      /**
+      * @brief Add callback function for incoming receives.
+      *
+      * @param callback_  The callback function to add.
+      *
+      * @return  True if succeeded, false if not.
+      **/
+      bool AddReceiveCallback(CapnpDynamicMsgCallbackT callback_)
+      {
+        msg_callback = callback_;
+        return subscriber.AddReceiveCallback(std::bind(&CDynamicSubscriber::OnReceive, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4, std::placeholders::_5));
+      }
+
+      bool RemReceiveCallback()
+      {
+        auto ret = subscriber.RemReceiveCallback();
+        msg_callback = nullptr;
+        return ret;
+      }
+
+      void OnReceive(const char* topic_name_, const capnp::MallocMessageBuilder& msg_, long long time_, long long clock_, long long id_)
+      {
+        if (!initialized)
+        {
+          std::string topic_desc = eCAL::Util::GetDescription(topic_name_);
+          if (!topic_desc.empty())
+          {
+            // We initialize the builder from the string
+            schema = eCAL::capnproto::SchemaFromDescriptor(topic_desc, loader);
+            initialized = true;
+          }
+          else
+          {
+            return;
+          }
+        }
+
+        auto root = const_cast<capnp::MallocMessageBuilder&>(msg_).getRoot<capnp::DynamicStruct>(schema.asStruct());
+        msg_callback(topic_name_, root.asReader(), time_, clock_, id_);
+      }
+
+      /**
+      * @brief get a Pointer to a temporary message that can be passed to receive
+      **/
+      typename capnp::DynamicStruct::Reader getReader()
+      {
+        return root_builder.asReader();
+      }
+
+      /**
+      * @brief Manually receive the next sample
+      **/
+      bool Receive(long long* time_ = nullptr, int rcv_timeout_ = 0)
+      {
+        return  subscriber.Receive(builder, time_, rcv_timeout_);
+      }
+
+      /**
+      * @brief  Creates this object.
+      *
+      * @param topic_name_  Unique topic name.
+      *
+      * @return  True if it succeeds, false if it fails.
+      **/
+      bool Create(const std::string& topic_name_)
+      {
+        return(subscriber.Create(topic_name_, "", ""));
+      }
+
+      /**
+      * @brief  Get type name of the capnp message.
+      *
+      * @return  Type name.
+      **/
+      std::string GetTypeName() const
+      {
+        return ("");
+      }
+
+    private:
+
+      CBuilderSubscriber subscriber;
+      capnp::MallocMessageBuilder builder;
+      capnp::DynamicStruct::Builder root_builder;
+      CapnpDynamicMsgCallbackT msg_callback;
+
+      capnp::schema::Node::Reader reader;
+      capnp::SchemaLoader loader;
+      capnp::Schema schema;
+
+      bool initialized;
+
+      /**
+      * @brief  Get file descriptor string of the capnp message.
+      *
+      * @return  Description string.
+      **/
+      std::string GetDescription() const
+      {
+        return("");
+      }
+    };
+
+  }
+  
+}
\ No newline at end of file
diff --git a/ecal/core/include/ecal/msg/capnproto/helper.h b/ecal/core/include/ecal/msg/capnproto/helper.h
new file mode 100644
index 0000000000..390e143ddf
--- /dev/null
+++ b/ecal/core/include/ecal/msg/capnproto/helper.h
@@ -0,0 +1,120 @@
+/* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * 
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ * 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
+*/
+
+#pragma once
+
+#include <iterator>
+#include <string>
+
+#ifdef _MSC_VER
+#pragma warning(push, 0)
+#endif /*_MSC_VER*/
+#include <capnp/schema.h>
+#include <capnp/schema-loader.h>
+#include <capnp/dynamic.h>
+#include <capnp/serialize.h>
+#include <capnp/schema.capnp.h>
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif /*_MSC_VER*/
+
+#include <ecal/msg/dynamic.h>
+#include <ecal/ecal_util.h>
+
+namespace eCAL
+{
+  namespace capnproto
+  {
+    const std::string message_prefix{ "capnp:" };
+
+    inline void appendMessageToString(capnp::MallocMessageBuilder& builder_, std::string& output_)
+    {
+      auto message_words = capnp::messageToFlatArray(builder_);
+      auto message_bytes = message_words.asBytes();
+      std::copy(message_bytes.begin(), message_bytes.end(), std::back_inserter(output_));
+    }
+
+    // From an abritrary type T, create a schema that contains all dependencies and
+    // return it as a std::string
+    // The first word (aka 8 bytes) is the id of T in Big Endian (Network) byte order.
+    // Following is a serialized list of T and all its dependencies schemas.
+    template <typename T>
+    std::string SchemaAsString()
+    {
+      // Create a loader and load T and all its dependencies, 
+      capnp::SchemaLoader loader;
+      loader.loadCompiledTypeAndDependencies<T>();
+
+      // Retrieve id information and save as big endian / network order
+      // then save it to the descriptor string as first 8 bytes
+      uint64_t id = capnp::typeId<T>();
+
+      std::string descriptor_string;
+
+      capnp::MallocMessageBuilder id_builder;
+      auto type_builder = id_builder.getRoot<capnp::schema::Value>();
+      type_builder.setUint64(id);
+      appendMessageToString(id_builder, descriptor_string);
+
+      // Serialize schema & all dependencies into string
+      auto loaded = loader.getAllLoaded();
+      for (auto schema : loaded)
+      {
+        capnp::MallocMessageBuilder builder;
+        builder.setRoot(schema.getProto());
+        appendMessageToString(builder, descriptor_string);
+      }
+      return descriptor_string;
+    }
+
+    template <typename T>
+    inline std::string TypeAsString()
+    {
+      auto schema = capnp::Schema::from<T>();
+      auto name = schema.getShortDisplayName();
+      return(message_prefix + std::string(name.cStr()));
+    }
+
+    // Creates a Schema from a given descriptor, needs to be passed a Schema loader.
+    inline capnp::Schema SchemaFromDescriptor(const std::string descriptor_string, capnp::SchemaLoader& loader)
+    {
+      kj::ArrayPtr<const capnp::word> schema_words = kj::arrayPtr(reinterpret_cast<const capnp::word*>(descriptor_string.data()), descriptor_string.size() / sizeof(capnp::word));
+
+      // First, read out the id of the root message
+      capnp::MallocMessageBuilder value_builder;
+      schema_words = capnp::initMessageBuilderFromFlatArrayCopy(schema_words, value_builder);
+      auto value_reader = value_builder.getRoot<capnp::schema::Value>();
+      uint64_t id = value_reader.getUint64();
+
+      // Read all messages into a builder, and load that into the loader
+      while (schema_words.begin() != schema_words.end())
+      {
+        capnp::MallocMessageBuilder schema_builder;
+        schema_words = capnp::initMessageBuilderFromFlatArrayCopy(schema_words, schema_builder);
+        // Get builder root as a Node
+        capnp::schema::Node::Reader reader = schema_builder.getRoot<capnp::schema::Node>();
+        loader.load(reader);
+      }
+      // how to get the "root" schema here? So the AddressBookSchema?
+      return loader.get(id);
+    }
+
+
+  }
+}
\ No newline at end of file
diff --git a/ecal/core/include/ecal/msg/capnproto/publisher.h b/ecal/core/include/ecal/msg/capnproto/publisher.h
index 27ab050834..3781a65a1b 100644
--- a/ecal/core/include/ecal/msg/capnproto/publisher.h
+++ b/ecal/core/include/ecal/msg/capnproto/publisher.h
@@ -25,16 +25,17 @@
 #pragma once
 
 #include <ecal/msg/publisher.h>
+#include <ecal/msg/capnproto/helper.h>
 
 // capnp includes
 #ifdef _MSC_VER
-#pragma warning(push)
-#pragma warning(disable: 4100 4239 4244 4245)
-#endif
+#pragma warning(push, 0)
+#endif /*_MSC_VER*/
 #include <capnp/serialize.h>
+#include <capnp/schema.h>
 #ifdef _MSC_VER
 #pragma warning(pop)
-#endif
+#endif /*_MSC_VER*/
 
 
 namespace eCAL
@@ -47,14 +48,13 @@ namespace eCAL
      * Publisher template  class for capnp messages. For details see documentation of CPublisher class.
      *
     **/
-    template <typename T>
-    class CPublisher : public CMsgPublisher<T>
+    class CBuilderPublisher : public CMsgPublisher<capnp::MallocMessageBuilder>
     {
     public:
       /**
        * @brief  Constructor.
       **/
-      CPublisher() : CMsgPublisher<T>()
+      CBuilderPublisher() : CMsgPublisher<capnp::MallocMessageBuilder>()
       {
       }
 
@@ -63,29 +63,29 @@ namespace eCAL
        *
        * @param topic_name_  Unique topic name.
       **/
-      CPublisher(const std::string& topic_name_) : CMsgPublisher<T>(topic_name_, GetTypeName(), GetDescription())
+      CBuilderPublisher(const std::string& topic_name_, const std::string& topic_type_, const std::string& topic_desc_) : CMsgPublisher<capnp::MallocMessageBuilder>(topic_name_, topic_type_, topic_desc_)
       {
       }
 
       /**
       * @brief  Copy Constructor is not available.
       **/
-      CPublisher(const CPublisher&) = delete;
+      CBuilderPublisher(const CBuilderPublisher&) = delete;
 
       /**
       * @brief  Copy Constructor is not available.
       **/
-      CPublisher& operator=(const CPublisher&) = delete;
+      CBuilderPublisher& operator=(const CBuilderPublisher&) = delete;
 
       /**
       * @brief  Move Constructor
       **/
-      CPublisher(CPublisher&&) = default;
+      CBuilderPublisher(CBuilderPublisher&&) = default;
 
       /**
       * @brief  Move assignment
       **/
-      CPublisher& operator=(CPublisher&&) = default;
+      CBuilderPublisher& operator=(CBuilderPublisher&&) = default;
 
       /**
        * @brief  Creates this object.
@@ -94,9 +94,9 @@ namespace eCAL
        *
        * @return  True if it succeeds, false if it fails.
       **/
-      bool Create(const std::string& topic_name_)
+      bool Create(const std::string& topic_name_, const std::string& topic_type_, const std::string& topic_desc_)
       {
-        return(CMsgPublisher<T>::Create(topic_name_, GetTypeName(), GetDescription()));
+        return(CMsgPublisher<capnp::MallocMessageBuilder>::Create(topic_name_, topic_type_, topic_desc_));
       }
 
       /**
@@ -117,6 +117,7 @@ namespace eCAL
       **/
       std::string GetDescription() const
       {
+        //auto schema = capnp::Schema::from<T>();
         return("");
       }
 
@@ -127,9 +128,9 @@ namespace eCAL
        *
        * @return  Message size.
       **/
-      size_t GetSize(const T& msg_) const
+      size_t GetSize(const capnp::MallocMessageBuilder& msg_) const
       {
-        return(capnp::computeSerializedSizeInWords(const_cast<T&>(msg_)) * sizeof(capnp::word));
+        return(capnp::computeSerializedSizeInWords(const_cast<capnp::MallocMessageBuilder&>(msg_)) * sizeof(capnp::word));
       }
 
       /**
@@ -141,9 +142,9 @@ namespace eCAL
        *
        * @return  True if it succeeds, false if it fails.
       **/
-      bool Serialize(const T& msg_, char* buffer_, size_t size_) const
+      bool Serialize(const capnp::MallocMessageBuilder& msg_, char* buffer_, size_t size_) const
       {
-        kj::Array<capnp::word> words = capnp::messageToFlatArray(const_cast<T&>(msg_));
+        kj::Array<capnp::word> words = capnp::messageToFlatArray(const_cast<capnp::MallocMessageBuilder&>(msg_));
         kj::ArrayPtr<kj::byte> bytes = words.asBytes();
         if (size_ < bytes.size()) return(false);
         memcpy(buffer_, bytes.begin(), bytes.size());
@@ -153,5 +154,110 @@ namespace eCAL
     /** @example addressbook_snd.cpp
     * This is an example how to use eCAL::CPublisher to send capnp data with eCAL. To receive the data, see @ref addressbook_rec.cpp .
     */
+
+    /**
+    * @brief eCAL capnp publisher class.
+    *
+    * Publisher template  class for capnp messages. For details see documentation of CPublisher class.
+    *
+    **/
+    template <typename message_type>
+    class CPublisher
+    {
+    public:
+      /**
+      * @brief  Constructor.
+      **/
+      CPublisher()
+        : publisher()
+        , builder()
+        , root_builder(builder.initRoot<message_type>())
+      {
+      }
+
+      /**
+      * @brief  Constructor.
+      *
+      * @param topic_name_  Unique topic name.
+      **/
+      CPublisher(const std::string& topic_name_)
+        : publisher(topic_name_, GetTypeName(), GetDescription())
+        , builder()
+        , root_builder(builder.initRoot<message_type>())
+      {
+      }
+
+      /**
+      * @brief  Copy Constructor is not available.
+      **/
+      CPublisher(const CPublisher&) = delete;
+
+      /**
+      * @brief  Copy Constructor is not available.
+      **/
+      CPublisher& operator=(const CPublisher&) = delete;
+
+      /**
+      * @brief  Move Constructor
+      **/
+      CPublisher(CPublisher&&) = default;
+
+      /**
+      * @brief  Move assignment
+      **/
+      CPublisher& operator=(CPublisher&&) = default;
+
+      /**
+      * @brief  Creates this object.
+      *
+      * @param topic_name_  Unique topic name.
+      *
+      * @return  True if it succeeds, false if it fails.
+      **/
+      bool Create(const std::string& topic_name_)
+      {
+        return(publisher.Create(topic_name_, GetTypeName(), GetDescription()));
+      }
+
+      typename message_type::Builder GetBuilder()
+      {
+        return root_builder;
+      }
+
+      void Send()
+      {
+        publisher.Send(builder);
+      }
+
+      /**
+      * @brief  Get type name of the capnp message.
+      *
+      * @return  Type name.
+      **/
+      std::string GetTypeName() const
+      {
+        return eCAL::capnproto::TypeAsString<message_type>();
+      }
+
+    private:
+
+      CBuilderPublisher publisher;
+      capnp::MallocMessageBuilder builder;
+      typename message_type::Builder root_builder;
+
+      /**
+      * @brief  Get file descriptor string of the capnp message.
+      *
+      * @return  Description string.
+      **/
+      std::string GetDescription() const
+      {
+        return eCAL::capnproto::SchemaAsString<message_type>();
+      }
+
+    };
+    /** @example addressbook_snd.cpp
+    * This is an example how to use eCAL::CPublisher to send capnp data with eCAL. To receive the data, see @ref addressbook_rec.cpp .
+    */
   }
 }
diff --git a/ecal/core/include/ecal/msg/capnproto/subscriber.h b/ecal/core/include/ecal/msg/capnproto/subscriber.h
index 66ced4015c..32c60ec6dd 100644
--- a/ecal/core/include/ecal/msg/capnproto/subscriber.h
+++ b/ecal/core/include/ecal/msg/capnproto/subscriber.h
@@ -5,9 +5,9 @@
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
- * 
+ *
  *      http://www.apache.org/licenses/LICENSE-2.0
- * 
+ *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
@@ -25,16 +25,16 @@
 #pragma once
 
 #include <ecal/msg/subscriber.h>
+#include <ecal/msg/capnproto/helper.h>
 
 // capnp includes
 #ifdef _MSC_VER
-#pragma warning(push)
-#pragma warning(disable: 4100 4239 4244 4245)
-#endif
+#pragma warning(push, 0)
+#endif /*_MSC_VER*/
 #include <capnp/serialize.h>
 #ifdef _MSC_VER
 #pragma warning(pop)
-#endif
+#endif /*_MSC_VER*/
 
 
 namespace eCAL
@@ -47,45 +47,45 @@ namespace eCAL
      * Subscriber template  class for capnp messages. For details see documentation of CSubscriber class.
      *
     **/
-    template <typename T>
-    class CSubscriber : public CMsgSubscriber<T>
+    class CBuilderSubscriber : public CMsgSubscriber<capnp::MallocMessageBuilder>
     {
     public:
+
       /**
-       * @brief  Constructor.
+      * @brief  Constructor.
       **/
-      CSubscriber() : CMsgSubscriber<T>()
+      CBuilderSubscriber() : CMsgSubscriber<capnp::MallocMessageBuilder>()
       {
       }
 
       /**
-       * @brief  Constructor.
-       *
-       * @param topic_name_  Unique topic name.
+      * @brief  Constructor.
+      *
+      * @param topic_name_  Unique topic name.
       **/
-      CSubscriber(const std::string& topic_name_) : CMsgSubscriber<T>(topic_name_, GetTypeName(), GetDescription())
+      CBuilderSubscriber(const std::string& topic_name_, const std::string& topic_type_, const std::string& topic_desc_) : CMsgSubscriber<capnp::MallocMessageBuilder>(topic_name_, topic_type_, topic_desc_)
       {
       }
 
       /**
       * @brief  Copy Constructor is not available.
       **/
-      CSubscriber(const CSubscriber&) = delete;
+      CBuilderSubscriber(const CBuilderSubscriber&) = delete;
 
       /**
       * @brief  Copy Constructor is not available.
       **/
-      CSubscriber& operator=(const CSubscriber&) = delete;
+      CBuilderSubscriber& operator=(const CBuilderSubscriber&) = delete;
 
       /**
       * @brief  Move Constructor
       **/
-      CSubscriber(CSubscriber&&) = default;
+      CBuilderSubscriber(CBuilderSubscriber&&) = default;
 
       /**
       * @brief  Move assignment
       **/
-      CSubscriber& operator=(CSubscriber&&) = default;
+      CBuilderSubscriber& operator=(CBuilderSubscriber&&) = default;
 
       /**
        * @brief  Creates this object.
@@ -94,9 +94,9 @@ namespace eCAL
        *
        * @return  True if it succeeds, false if it fails.
       **/
-      bool Create(const std::string& topic_name_)
+      bool Create(const std::string& topic_name_, const std::string& topic_type_, const std::string& topic_desc_)
       {
-        return(CMsgSubscriber<T>::Create(topic_name_, GetTypeName(), GetDescription()));
+        return(CMsgSubscriber<capnp::MallocMessageBuilder>::Create(topic_name_, topic_type_, topic_desc_));
       }
 
       /**
@@ -129,7 +129,7 @@ namespace eCAL
        *
        * @return  True if it succeeds, false if it fails.
       **/
-      bool Deserialize(T& msg_, const void* buffer_, size_t size_) const
+      bool Deserialize(capnp::MallocMessageBuilder& msg_, const void* buffer_, size_t size_) const
       {
         kj::ArrayPtr<const capnp::word> words = kj::arrayPtr(reinterpret_cast<const capnp::word*>(buffer_), size_ / sizeof(capnp::word));
         kj::ArrayPtr<const capnp::word> rest = initMessageBuilderFromFlatArrayCopy(words, msg_);
@@ -137,7 +137,154 @@ namespace eCAL
       }
     };
     /** @example addressbook_rec.cpp
-    * This is an example how to use eCAL::CSubscriber to receive capnp data with eCAL. To send the data, see @ref addressbook_snd.cpp .
+    * This is an example how to use eCAL::CCapnpSubscriber to receive capnp data with eCAL. To send the data, see @ref addressbook_snd.cpp .
     */
+
+    /**
+    * @brief  eCAL capnp subscriber class.
+    *
+    * Subscriber template  class for capnp messages. For details see documentation of CSubscriber class.
+    *
+    **/
+    template <typename message_type>
+    class CSubscriber
+    {
+    public:
+      /**
+      * @brief  Constructor.
+      **/
+      CSubscriber()
+        : subscriber()
+        , builder()
+        , root_builder(builder.getRoot<message_type>())
+      {
+      }
+
+      /**
+      * @brief  Constructor.
+      *
+      * @param topic_name_  Unique topic name.
+      **/
+      CSubscriber(const std::string& topic_name_)
+        : subscriber(topic_name_, GetTypeName(), GetDescription())
+        , builder()
+        , root_builder(builder.getRoot<message_type>())
+      {
+      }
+
+      /**
+      * @brief  Copy Constructor is not available.
+      **/
+      CSubscriber(const CSubscriber&) = delete;
+
+      /**
+      * @brief  Copy Constructor is not available.
+      **/
+      CSubscriber& operator=(const CSubscriber&) = delete;
+
+      /**
+      * @brief  Move Constructor
+      **/
+      CSubscriber(CSubscriber&&) = default;
+
+      /**
+      * @brief  Move assignment
+      **/
+      CSubscriber& operator=(CSubscriber&&) = default;
+
+      /**
+      * @brief eCAL protobuf message receive callback function
+      *
+      * @param topic_name_  Topic name of the data source (publisher).
+      * @param msg_         Protobuf message content.
+      * @param time_        Message time stamp.
+      **/
+      typedef std::function<void(const char* topic_name_, typename message_type::Reader msg_, long long time_, long long clock_, long long id_)> MsgCallbackT;
+
+      /**
+      * @brief Add callback function for incoming receives.
+      *
+      * @param callback_  The callback function to add.
+      *
+      * @return  True if succeeded, false if not.
+      **/
+      bool AddReceiveCallback(MsgCallbackT callback_)
+      {
+        msg_callback = callback_;
+        return subscriber.AddReceiveCallback(std::bind(&CSubscriber::OnReceive, this, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3, std::placeholders::_4, std::placeholders::_5));
+      }
+
+      bool RemReceiveCallback()
+      {
+        auto ret{subscriber.RemReceiveCallback()};
+        msg_callback = nullptr;
+        return ret;
+      }
+
+      void OnReceive(const char* topic_name_, const capnp::MallocMessageBuilder& msg_, long long time_, long long clock_, long long id_)
+      {
+        auto root = const_cast<capnp::MallocMessageBuilder&>(msg_).getRoot<message_type>();
+        msg_callback(topic_name_, root, time_, clock_, id_);
+      }
+
+      /**
+      * @brief get a Pointer to a temporary message that can be passed to receive
+      **/
+      typename message_type::Reader getReader()
+      {
+        return root_builder.asReader();
+      }
+
+      /**
+      * @brief Manually receive the next sample
+      **/
+      bool Receive(long long* time_ = nullptr, int rcv_timeout_ = 0)
+      {
+        auto res = subscriber.Receive(builder, time_, rcv_timeout_);
+        // Update the Reader
+        root_builder = typename message_type::Builder(builder.getRoot<message_type>());
+        return res;
+      }
+
+      /**
+      * @brief  Creates this object.
+      *
+      * @param topic_name_  Unique topic name.
+      *
+      * @return  True if it succeeds, false if it fails.
+      **/
+      bool Create(const std::string& topic_name_)
+      {
+        return(subscriber.Create(topic_name_, GetTypeName(), GetDescription()));
+      }
+
+      /**
+      * @brief  Get type name of the capnp message.
+      *
+      * @return  Type name.
+      **/
+      std::string GetTypeName() const
+      {
+        return eCAL::capnproto::TypeAsString<message_type>();
+      }
+
+    private:
+
+      CBuilderSubscriber subscriber;
+      capnp::MallocMessageBuilder builder;
+      typename message_type::Builder root_builder;
+      MsgCallbackT msg_callback;
+
+      /**
+      * @brief  Get file descriptor string of the capnp message.
+      *
+      * @return  Description string.
+      **/
+      std::string GetDescription() const
+      {
+        return eCAL::capnproto::SchemaAsString<message_type>();
+      }
+    };
+
   }
 }
diff --git a/ecal/core/include/ecal/msg/dynamic.h b/ecal/core/include/ecal/msg/dynamic.h
new file mode 100644
index 0000000000..494d55fd13
--- /dev/null
+++ b/ecal/core/include/ecal/msg/dynamic.h
@@ -0,0 +1,56 @@
+/* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * 
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ * 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
+*/
+
+#pragma once
+
+namespace eCAL
+{
+  
+  /* @cond */
+  class DynamicReflectionException : public std::exception
+  {
+  public:
+    DynamicReflectionException(const std::string& message) : message_(message) {}
+    virtual const char* what() const throw() { return message_.c_str(); }
+  private:
+    std::string message_;
+  };
+  /* @endcond */
+  
+  /* @cond */
+  inline bool StrEmptyOrNull(const std::string& str)
+  {
+    if (str.empty())
+    {
+      return true;
+    }
+    else
+    {
+      for (auto c : str)
+      {
+        if (c != '\0')
+        {
+          return false;
+        }
+      }
+      return true;
+    }
+  }
+  /* @endcond */
+}
\ No newline at end of file
diff --git a/ecal/core/include/ecal/msg/protobuf/dynamic_subscriber.h b/ecal/core/include/ecal/msg/protobuf/dynamic_subscriber.h
index 6a29efcbb6..2b0b42ecfe 100644
--- a/ecal/core/include/ecal/msg/protobuf/dynamic_subscriber.h
+++ b/ecal/core/include/ecal/msg/protobuf/dynamic_subscriber.h
@@ -28,6 +28,7 @@
 #include <sstream>
 #include <ecal/ecal.h>
 #include <ecal/protobuf/ecal_proto_dyn.h>
+#include <ecal/msg/dynamic.h>
 
 #ifdef _MSC_VER
 #pragma warning(push)
@@ -42,18 +43,6 @@ namespace eCAL
 {
   namespace protobuf
   {
-
-    /* @cond */
-    class DynamicReflectionException : public std::exception
-    {
-    public:
-      DynamicReflectionException(const std::string& message) : message_(message) {}
-      virtual const char* what() const throw() { return message_.c_str(); }
-    private:
-      std::string message_;
-    };
-    /* @endcond */
-
     /**
      * @brief eCAL dynamic protobuf subscriber.
     **/
@@ -286,27 +275,6 @@ namespace eCAL
       return(true);
     }
 
-    /* @cond */
-    inline bool StrEmptyOrNull(const std::string& str)
-    {
-      if (str.empty())
-      {
-        return true;
-      }
-      else
-      {
-        for (auto c : str)
-        {
-          if (c != '\0')
-          {
-            return false;
-          }
-        }
-        return true;
-      }
-    }
-    /* @endcond */
-
     inline void CDynamicSubscriber::OnReceive(const char* topic_name_, const struct eCAL::SReceiveCallbackData* data_)
     {
       try
diff --git a/ecal/core/src/CMakeLists.txt b/ecal/core/src/CMakeLists.txt
index d1cc83a17c..b074a698e8 100644
--- a/ecal/core/src/CMakeLists.txt
+++ b/ecal/core/src/CMakeLists.txt
@@ -277,6 +277,8 @@ set(ecal_header_cimpl
 )
 
 set(ecal_header_msg
+    ../include/ecal/msg/capnproto/dynamic.h
+    ../include/ecal/msg/capnproto/helper.h
     ../include/ecal/msg/capnproto/publisher.h
     ../include/ecal/msg/capnproto/subscriber.h
     ../include/ecal/msg/flatbuffers/publisher.h
@@ -291,6 +293,7 @@ set(ecal_header_msg
     ../include/ecal/msg/protobuf/subscriber.h
     ../include/ecal/msg/string/publisher.h
     ../include/ecal/msg/string/subscriber.h
+    ../include/ecal/msg/dynamic.h
     ../include/ecal/msg/publisher.h
     ../include/ecal/msg/subscriber.h
 )
diff --git a/ecal/core/src/ecal.cpp b/ecal/core/src/ecal.cpp
index 6f1b11118d..edf3d81255 100644
--- a/ecal/core/src/ecal.cpp
+++ b/ecal/core/src/ecal.cpp
@@ -145,9 +145,9 @@ namespace eCAL
         for (size_t i = 0; i < static_cast<size_t>(argc_); ++i) if (argv_[i]) g_task_parameter.push_back(argv_[i]);
       }
 
-      g_process_sclock = 0;
-      g_process_sbytes = 0;
-      g_process_sbytes_sum = 0;
+      g_process_wclock = 0;
+      g_process_wbytes = 0;
+      g_process_wbytes_sum = 0;
 
       g_process_rclock = 0;
       g_process_rbytes = 0;
diff --git a/ecal/core/src/ecal_def.h b/ecal/core/src/ecal_def.h
index e15ecdcdf9..5050c7b18d 100644
--- a/ecal/core/src/ecal_def.h
+++ b/ecal/core/src/ecal_def.h
@@ -149,8 +149,7 @@
 #define PUB_MEMFILE_OPEN_TO                           50
 
 /* timeout for memory read acknowledge signal from data reader in ms */
-#define PUB_MEMFILE_ACK_TO_QOS_BE                     10   /* qos: best effort */
-#define PUB_MEMFILE_ACK_TO_QOS_RE                    100   /* qos: reliable    */
+#define PUB_MEMFILE_ACK_TO                            0   /* ms */
 
 /**********************************************************************************************/
 /*                                     time settings                                          */
@@ -179,4 +178,4 @@
 /*                                     events                                                 */
 /**********************************************************************************************/
 /* common stop event prefix to shut down a local user process */
-#define EVENT_SHUTDOWN_PROC             "eCAL_ShutdownProcsEvent"
+#define EVENT_SHUTDOWN_PROC             "ecal_shutdown_process"
diff --git a/ecal/core/src/ecal_def_ini.h b/ecal/core/src/ecal_def_ini.h
index 38d891e928..a218dd3b79 100644
--- a/ecal/core/src/ecal_def_ini.h
+++ b/ecal/core/src/ecal_def_ini.h
@@ -116,8 +116,7 @@
 
 #define  PUB_MEMFILE_MINSIZE_S            "memfile_minsize"
 #define  PUB_MEMFILE_RESERVE_S            "memfile_reserve"
-#define  PUB_MEMFILE_ACK_TO_QOS_BE_S      "memfile_ack_timeout_qos_1"
-#define  PUB_MEMFILE_ACK_TO_QOS_RE_S      "memfile_ack_timeout_qos_2"
+#define  PUB_MEMFILE_ACK_TO_S             "memfile_ack_timeout"
 
 #define  PUB_SHARE_TTYPE_S                "share_ttype"
 #define  PUB_SHARE_TDESC_S                "share_tdesc"
diff --git a/ecal/core/src/ecal_global_accessors.cpp b/ecal/core/src/ecal_global_accessors.cpp
index f13de65adf..30f0dc56be 100644
--- a/ecal/core/src/ecal_global_accessors.cpp
+++ b/ecal/core/src/ecal_global_accessors.cpp
@@ -45,12 +45,12 @@ namespace eCAL
   eCAL_Process_eSeverity        g_process_severity(proc_sev_unknown);
   eCAL_Process_eSeverity_Level  g_process_severity_level(proc_sev_level1);
 
-  std::atomic<long long>        g_process_sclock;
-  std::atomic<int>              g_process_sbytes;
-  std::atomic<long long>        g_process_sbytes_sum;
+  std::atomic<long long>        g_process_wclock;
+  std::atomic<long long>        g_process_wbytes;
+  std::atomic<long long>        g_process_wbytes_sum;
 
   std::atomic<long long>        g_process_rclock;
-  std::atomic<int>              g_process_rbytes;
+  std::atomic<long long>        g_process_rbytes;
   std::atomic<long long>        g_process_rbytes_sum;
 
 
diff --git a/ecal/core/src/ecal_global_accessors.h b/ecal/core/src/ecal_global_accessors.h
index 569102b85b..4bfd147e98 100644
--- a/ecal/core/src/ecal_global_accessors.h
+++ b/ecal/core/src/ecal_global_accessors.h
@@ -80,11 +80,11 @@ namespace eCAL
   extern eCAL_Process_eSeverity        g_process_severity;
   extern eCAL_Process_eSeverity_Level  g_process_severity_level;
 
-  extern std::atomic<long long>        g_process_sclock;
-  extern std::atomic<int>              g_process_sbytes;
-  extern std::atomic<long long>        g_process_sbytes_sum;
+  extern std::atomic<long long>        g_process_wclock;
+  extern std::atomic<long long>        g_process_wbytes;
+  extern std::atomic<long long>        g_process_wbytes_sum;
 
   extern std::atomic<long long>        g_process_rclock;
-  extern std::atomic<int>              g_process_rbytes;
+  extern std::atomic<long long>        g_process_rbytes;
   extern std::atomic<long long>        g_process_rbytes_sum;
 }
diff --git a/ecal/core/src/ecal_process.cpp b/ecal/core/src/ecal_process.cpp
index 4570949523..7bff6fd827 100644
--- a/ecal/core/src/ecal_process.cpp
+++ b/ecal/core/src/ecal_process.cpp
@@ -258,12 +258,22 @@ namespace eCAL
 
     long long GetSClock()
     {
-      return(g_process_sclock);
+      return(GetWClock());
     };
 
     long long GetSBytes()
     {
-      return(g_process_sbytes);
+      return(GetWBytes());
+    };
+
+    long long GetWClock()
+    {
+      return(g_process_wclock);
+    };
+
+    long long GetWBytes()
+    {
+      return(g_process_wbytes);
     };
 
     long long GetRClock()
diff --git a/ecal/core/src/ecal_register.cpp b/ecal/core/src/ecal_register.cpp
index b226781654..c14d94dab1 100644
--- a/ecal/core/src/ecal_register.cpp
+++ b/ecal/core/src/ecal_register.cpp
@@ -50,10 +50,10 @@ namespace eCAL
   extern eCAL_Process_eSeverity  g_process_severity;
   extern std::string             g_process_info;
 
-  extern std::atomic<int>        g_process_sbytes;
-  extern std::atomic<long long>  g_process_sbytes_sum;
+  extern std::atomic<long long>  g_process_wbytes;
+  extern std::atomic<long long>  g_process_wbytes_sum;
 
-  extern std::atomic<int>        g_process_rbytes;
+  extern std::atomic<long long>  g_process_rbytes;
   extern std::atomic<long long>  g_process_rbytes_sum;
 
   std::atomic<bool> CEntityRegister::m_created;
@@ -187,8 +187,8 @@ namespace eCAL
     process_sample_mutable_process->set_pmemory(Process::GetProcessMemory());
     process_sample_mutable_process->set_pcpu(Process::GetProcessCpuUsage());
     process_sample_mutable_process->set_usrptime(static_cast<float>(Logging::GetCoreTime()));
-    process_sample_mutable_process->set_udpsbytes(google::protobuf::int32(Process::GetSBytes()));
-    process_sample_mutable_process->set_udprbytes(google::protobuf::int32(Process::GetRBytes()));
+    process_sample_mutable_process->set_datawrite(google::protobuf::int64(Process::GetWBytes()));
+    process_sample_mutable_process->set_dataread(google::protobuf::int64(Process::GetRBytes()));
     process_sample_mutable_process->mutable_state()->set_severity(eCAL::pb::eProcessSeverity(g_process_severity));
     process_sample_mutable_process->mutable_state()->set_info(g_process_info);
     if (!g_timegate())
@@ -289,12 +289,12 @@ namespace eCAL
     if(!m_created) return(0);
 
     // calculate average receive bytes
-    g_process_rbytes = static_cast<int>(((double)g_process_rbytes_sum / m_reg_refresh)*1000.0);
+    g_process_rbytes = static_cast<long long>(((double)g_process_rbytes_sum / m_reg_refresh)*1000.0);
     g_process_rbytes_sum = 0;
 
-    // calculate average send bytes
-    g_process_sbytes = static_cast<int>(((double)g_process_sbytes_sum / m_reg_refresh)*1000.0);
-    g_process_sbytes_sum = 0;
+    // calculate average write bytes
+    g_process_wbytes = static_cast<long long>(((double)g_process_wbytes_sum / m_reg_refresh)*1000.0);
+    g_process_wbytes_sum = 0;
 
     // refresh subscriber registration
     if (g_subgate()) g_subgate()->RefreshRegistrations();
diff --git a/ecal/core/src/ecal_util.cpp b/ecal/core/src/ecal_util.cpp
index b00b2be190..23e95dce1d 100644
--- a/ecal/core/src/ecal_util.cpp
+++ b/ecal/core/src/ecal_util.cpp
@@ -108,7 +108,7 @@ namespace eCAL
     **/
     void ShutdownProcess(const int process_id_)
     {
-      std::string event_name = EVENT_SHUTDOWN_PROC + std::to_string(process_id_);
+      std::string event_name = EVENT_SHUTDOWN_PROC + std::string("_") + std::to_string(process_id_);
       EventHandleT event;
       if (gOpenEvent(&event, event_name))
       {
diff --git a/ecal/core/src/ecalc.cpp b/ecal/core/src/ecalc.cpp
index d53337a963..f89cca2bb6 100644
--- a/ecal/core/src/ecalc.cpp
+++ b/ecal/core/src/ecalc.cpp
@@ -244,12 +244,22 @@ extern "C"
 
   ECALC_API long long eCAL_Process_GetSClock()
   {
-    return(eCAL::Process::GetSClock());
+    return(eCAL_Process_GetWClock());
   }
 
   ECALC_API long long eCAL_Process_GetSBytes()
   {
-    return(eCAL::Process::GetSBytes());
+    return(eCAL_Process_GetWBytes());
+  }
+
+  ECALC_API long long eCAL_Process_GetWClock()
+  {
+    return(eCAL::Process::GetWClock());
+  }
+
+  ECALC_API long long eCAL_Process_GetWBytes()
+  {
+    return(eCAL::Process::GetWBytes());
   }
 
   ECALC_API long long eCAL_Process_GetRClock()
diff --git a/ecal/core/src/io/ecal_memfile.cpp b/ecal/core/src/io/ecal_memfile.cpp
index ffdb7937b9..f6a6a75606 100644
--- a/ecal/core/src/io/ecal_memfile.cpp
+++ b/ecal/core/src/io/ecal_memfile.cpp
@@ -175,7 +175,7 @@ namespace eCAL
     // unlock mutex
     ret_state &= DestroyMtx(&m_memfile_info->mutex);
 
-    // unlock mutex
+    // cleanup mutex
     ret_state &= CleanupMtx(m_memfile_info->name);
 
     // reset states
diff --git a/ecal/core/src/io/ecal_memfile_pool.cpp b/ecal/core/src/io/ecal_memfile_pool.cpp
index dac879e9c4..7ef0206e81 100644
--- a/ecal/core/src/io/ecal_memfile_pool.cpp
+++ b/ecal/core/src/io/ecal_memfile_pool.cpp
@@ -24,6 +24,7 @@
 #include <ecal/ecal.h>
 
 #include "ecal_def.h"
+#include "ecal_config_hlp.h"
 #include "ecal_message.h"
 #include "pubsub/ecal_subgate.h"
 
@@ -39,8 +40,10 @@ namespace eCAL
   CMemFileObserver::CMemFileObserver() :
     m_do_stop(false),
     m_is_stopped(false),
-    m_timeout(0)
+    m_timeout_read(0),
+    m_timeout_ack(PUB_MEMFILE_ACK_TO)
   {
+    m_timeout_ack = eCALPAR(PUB, MEMFILE_ACK_TO);
   }
 
   CMemFileObserver::~CMemFileObserver()
@@ -49,7 +52,7 @@ namespace eCAL
 
   void CMemFileObserver::ResetTimeout()
   {
-    m_timeout = 0;
+    m_timeout_read = 0;
   }
 
   void CMemFileObserver::Stop()
@@ -71,14 +74,17 @@ namespace eCAL
 #endif
     // open memory file event
     gOpenEvent(&m_event_snd, memfile_event_);
-    gOpenEvent(&m_event_ack, memfile_event_ + "_ack");
+    if (m_timeout_ack != 0)
+    {
+      gOpenEvent(&m_event_ack, memfile_event_ + "_ack");
+    }
 
     // create memory file
     CMemoryFile memfile;
     memfile.Create(memfile_name_.c_str(), false);
 
     uint64_t sample_clock = 0;
-    while((m_timeout < timeout_max_) && !m_do_stop)
+    while((m_timeout_read < timeout_max_) && !m_do_stop)
     {
       // central memory file event sync with 5 ms
       const int evt_timeout = 5;
@@ -114,7 +120,10 @@ namespace eCAL
           memfile.Close();
 
           // send ack event
-          gSetEvent(m_event_ack);
+          if (m_timeout_ack != 0)
+          {
+            gSetEvent(m_event_ack);
+          }
 
           // process content
           if((m_ecal_buffer.size() > 0) && (ecal_message.clock > sample_clock))
@@ -131,12 +140,12 @@ namespace eCAL
         }
 
         // reset timeout
-        m_timeout = 0;
+        m_timeout_read = 0;
       }
       else
       {
         // increase timeout
-        m_timeout += evt_timeout;
+        m_timeout_read += evt_timeout;
       }
     }
 
@@ -145,7 +154,10 @@ namespace eCAL
 
     // close memory file events
     gCloseEvent(m_event_snd);
-    gCloseEvent(m_event_ack);
+    if (m_timeout_ack != 0)
+    {
+      gCloseEvent(m_event_ack);
+    }
 
 #ifndef NDEBUG
     // log it
diff --git a/ecal/core/src/io/ecal_memfile_pool.h b/ecal/core/src/io/ecal_memfile_pool.h
index ca6a38199b..99e3b57a14 100644
--- a/ecal/core/src/io/ecal_memfile_pool.h
+++ b/ecal/core/src/io/ecal_memfile_pool.h
@@ -55,7 +55,8 @@ namespace eCAL
     std::mutex         m_thread_sync;
     std::atomic<bool>  m_do_stop;
     std::atomic<bool>  m_is_stopped;
-    std::atomic<int>   m_timeout;
+    std::atomic<int>   m_timeout_read;
+    std::atomic<int>   m_timeout_ack;
     EventHandleT       m_event_snd;
     EventHandleT       m_event_ack;
     CMemoryFile        m_memfile;
diff --git a/ecal/core/src/mon/ecal_monitoring_impl.cpp b/ecal/core/src/mon/ecal_monitoring_impl.cpp
index 96c6fc789b..1319c9236f 100644
--- a/ecal/core/src/mon/ecal_monitoring_impl.cpp
+++ b/ecal/core/src/mon/ecal_monitoring_impl.cpp
@@ -335,9 +335,9 @@ namespace eCAL
     long long       process_memory               = sample_process.pmemory();
     float           process_cpu                  = sample_process.pcpu();
     float           process_usrptime             = sample_process.usrptime();
-    int             process_udpsbytes            = sample_process.udpsbytes();
-    int             process_udprbytes            = sample_process.udprbytes();
-    auto sample_process_state = sample_process.state();
+    long long       process_datawrite            = sample_process.datawrite();
+    long long       process_dataread             = sample_process.dataread();
+    auto            sample_process_state         = sample_process.state();
     int             process_state_severity       = sample_process_state.severity();
     int             process_state_severity_level = sample_process_state.severity_level();
     std::string     process_state_info           = sample_process_state.info();
@@ -365,8 +365,8 @@ namespace eCAL
     ProcessInfo.pmemory              = process_memory;
     ProcessInfo.pcpu                 = process_cpu;
     ProcessInfo.usrptime             = process_usrptime;
-    ProcessInfo.udpsbytes            = process_udpsbytes;
-    ProcessInfo.udprbytes            = process_udprbytes;
+    ProcessInfo.datawrite            = process_datawrite;
+    ProcessInfo.dataread             = process_dataread;
     ProcessInfo.state_severity       = process_state_severity;
     ProcessInfo.state_severity_level = process_state_severity_level;
     ProcessInfo.state_info           = std::move(process_state_info);
@@ -530,11 +530,11 @@ namespace eCAL
       // process user core time
       pMonProcs->set_usrptime(process.second.usrptime);
 
-      // process udp send bytes
-      pMonProcs->set_udpsbytes(process.second.udpsbytes);
+      // process data write bytes
+      pMonProcs->set_datawrite(process.second.datawrite);
 
-      // process udp receive bytes
-      pMonProcs->set_udprbytes(process.second.udprbytes);
+      // process data read bytes
+      pMonProcs->set_dataread(process.second.dataread);
 
       // state
       auto state = pMonProcs->mutable_state();
diff --git a/ecal/core/src/mon/ecal_monitoring_impl.h b/ecal/core/src/mon/ecal_monitoring_impl.h
index 11a857d15a..00f7eb95c4 100644
--- a/ecal/core/src/mon/ecal_monitoring_impl.h
+++ b/ecal/core/src/mon/ecal_monitoring_impl.h
@@ -147,8 +147,8 @@ namespace eCAL
         pmemory = 0;
         pcpu = 0.0f;
         usrptime = 0.0f;
-        udpsbytes = 0;
-        udprbytes = 0;
+        datawrite = 0;
+        dataread = 0;
         state_severity = 0;
         state_severity_level = 0;
         tsync_mode = 0;
@@ -163,8 +163,8 @@ namespace eCAL
       long long      pmemory;
       float          pcpu;
       float          usrptime;
-      int            udpsbytes;
-      int            udprbytes;
+      long long      datawrite;
+      long long      dataread;
       int            state_severity;
       int            state_severity_level;
       std::string    state_info;
diff --git a/ecal/core/src/pubsub/ecal_subgate.cpp b/ecal/core/src/pubsub/ecal_subgate.cpp
index acd70b3cf2..468326f3e7 100644
--- a/ecal/core/src/pubsub/ecal_subgate.cpp
+++ b/ecal/core/src/pubsub/ecal_subgate.cpp
@@ -41,7 +41,7 @@ namespace eCAL
   ECAL_API const EventHandleT& ShutdownProcEvent()
   {
     static EventHandleT evt;
-    static std::string event_name(EVENT_SHUTDOWN_PROC + std::to_string(Process::GetProcessID()));
+    static std::string event_name(EVENT_SHUTDOWN_PROC + std::string("_") + std::to_string(Process::GetProcessID()));
     if (!gEventIsValid(evt))
     {
       gOpenEvent(&evt, event_name);
diff --git a/ecal/core/src/readwrite/ecal_writer.cpp b/ecal/core/src/readwrite/ecal_writer.cpp
index cdd7c56480..78e76b8b0d 100644
--- a/ecal/core/src/readwrite/ecal_writer.cpp
+++ b/ecal/core/src/readwrite/ecal_writer.cpp
@@ -395,7 +395,7 @@ namespace eCAL
     size_t snd_hash = hf(SSndHash(m_topic_id, m_clock));
 
     // increase overall sum send
-    g_process_sbytes_sum += len_;
+    g_process_wbytes_sum += len_;
 
     // store size for monitoring
     m_topic_size = len_;
@@ -929,7 +929,7 @@ namespace eCAL
     m_clock++;
 
     // statistics
-    g_process_sclock++;
+    g_process_wclock++;
   }
 
   std::string CDataWriter::Dump(const std::string& indent_ /* = "" */)
diff --git a/ecal/core/src/readwrite/ecal_writer_shm.cpp b/ecal/core/src/readwrite/ecal_writer_shm.cpp
index 52954d9be0..3d81afddc0 100644
--- a/ecal/core/src/readwrite/ecal_writer_shm.cpp
+++ b/ecal/core/src/readwrite/ecal_writer_shm.cpp
@@ -40,8 +40,7 @@
 namespace eCAL
 {
   CDataWriterSHM::CDataWriterSHM() : 
-    m_timeout_qos_be(PUB_MEMFILE_ACK_TO_QOS_BE),
-    m_timeout_qos_re(PUB_MEMFILE_ACK_TO_QOS_RE)
+    m_timeout_ack(PUB_MEMFILE_ACK_TO)
   {
   }
   
@@ -70,8 +69,7 @@ namespace eCAL
 
     m_topic_name = topic_name_;
 
-    m_timeout_qos_be = eCALPAR(PUB, MEMFILE_ACK_TO_QOS_BE);
-    m_timeout_qos_re = eCALPAR(PUB, MEMFILE_ACK_TO_QOS_RE);
+    m_timeout_ack = eCALPAR(PUB, MEMFILE_ACK_TO);
 
     CreateMemFile(static_cast<size_t>(eCALPAR(PUB, MEMFILE_MINSIZE)));
 
@@ -194,7 +192,7 @@ namespace eCAL
     m_memfile.Close();
 
     // and fire the publish event for local subscriber
-    if (written) SignalMemFileWritten(m_qos.reliability == QOS::reliable_reliability_qos);
+    if (written) SignalMemFileWritten();
 
 #ifndef NDEBUG
     // log it
@@ -235,18 +233,24 @@ namespace eCAL
       SEventHandlePair event_pair;
       std::string event_snd_name = m_memfile_name + "_" + process_id_;
       gOpenEvent(&event_pair.event_snd, event_snd_name);
-      gOpenEvent(&event_pair.event_ack, event_ack_name);
+      if (m_timeout_ack != 0)
+      {
+        gOpenEvent(&event_pair.event_ack, event_ack_name);
+      }
       m_event_handle_map.insert(std::pair<std::string, SEventHandlePair>(process_id_, event_pair));
       return true;
     }
     else
     {
-      // okay we have registered process events for that process id
-      // we have to check the acknowledge event because it's possible that this
-      // event was deactivated by a sync timeout in SignalMemFileWritten
-      if (!gEventIsValid(iter->second.event_ack))
+      if (m_timeout_ack != 0)
       {
-        gOpenEvent(&iter->second.event_ack, event_ack_name);
+        // okay we have registered process events for that process id
+        // we have to check the acknowledge event because it's possible that this
+        // event was deactivated by a sync timeout in SignalMemFileWritten
+        if (!gEventIsValid(iter->second.event_ack))
+        {
+          gOpenEvent(&iter->second.event_ack, event_ack_name);
+        }
       }
       return true;
     }
@@ -266,7 +270,10 @@ namespace eCAL
     {
       SEventHandlePair event_pair = iter->second;
       gCloseEvent(event_pair.event_snd);
-      gCloseEvent(event_pair.event_ack);
+      if (m_timeout_ack != 0)
+      {
+        gCloseEvent(event_pair.event_ack);
+      }
       m_event_handle_map.erase(iter);
       return true;
     }
@@ -284,15 +291,12 @@ namespace eCAL
   // fire the publisher events
   // connected subscribers will read the content from the memory file
   /////////////////////////////////////////////////////////////////
-  void CDataWriterSHM::SignalMemFileWritten(bool reliable_)
+  void CDataWriterSHM::SignalMemFileWritten()
   {
     std::lock_guard<std::mutex> lock(m_event_handle_map_sync);
 
-    long           timeout = m_timeout_qos_be;
-    if (reliable_) timeout = m_timeout_qos_re;
-
     // "eat" old acknowledge events :)
-    if (timeout != 0)
+    if (m_timeout_ack != 0)
     {
       for (auto iter : m_event_handle_map)
       {
@@ -307,9 +311,9 @@ namespace eCAL
       gSetEvent(iter->second.event_snd);
 
       // sync on acknowledge event
-      if (timeout != 0)
+      if (m_timeout_ack != 0)
       {
-        if (!gWaitForEvent(iter->second.event_ack, timeout))
+        if (!gWaitForEvent(iter->second.event_ack, m_timeout_ack))
         {
           // we close the event immediately to not waste time in the next
           // write call, the event will be reopened later
@@ -396,11 +400,14 @@ namespace eCAL
 
   bool CDataWriterSHM::DestroyMemFile()
   {
-    // fire acknowledge events, to unlock blocking send function
-    std::lock_guard<std::mutex> lock(m_event_handle_map_sync);
-    for (auto iter : m_event_handle_map)
+    if (m_timeout_ack != 0)
     {
-      gSetEvent(iter.second.event_ack);
+      // fire acknowledge events, to unlock blocking send function
+      std::lock_guard<std::mutex> lock(m_event_handle_map_sync);
+      for (auto iter : m_event_handle_map)
+      {
+        gSetEvent(iter.second.event_ack);
+      }
     }
 
     // close all events and invalidate them
@@ -410,9 +417,12 @@ namespace eCAL
     for (auto iter = m_event_handle_map.begin(); iter != m_event_handle_map.end(); ++iter)
     {
       gCloseEvent(iter->second.event_snd);
-      gCloseEvent(iter->second.event_ack);
       gInvalidateEvent(&iter->second.event_snd);
-      gInvalidateEvent(&iter->second.event_ack);
+      if (m_timeout_ack != 0)
+      {
+        gCloseEvent(iter->second.event_ack);
+        gInvalidateEvent(&iter->second.event_ack);
+      }
     }
 
     // destroy the file
diff --git a/ecal/core/src/readwrite/ecal_writer_shm.h b/ecal/core/src/readwrite/ecal_writer_shm.h
index eb46890ae9..cabf8844c0 100644
--- a/ecal/core/src/readwrite/ecal_writer_shm.h
+++ b/ecal/core/src/readwrite/ecal_writer_shm.h
@@ -59,7 +59,7 @@ namespace eCAL
     std::string GetConectionPar();
 
   protected:
-    void SignalMemFileWritten(bool reliable_);
+    void SignalMemFileWritten();
 
     void BuildMemFileName();
     bool CreateMemFile(size_t size_);
@@ -77,7 +77,6 @@ namespace eCAL
     std::mutex       m_event_handle_map_sync;
     EventHandleMapT  m_event_handle_map;
 
-    int              m_timeout_qos_be;
-    int              m_timeout_qos_re;
+    int              m_timeout_ack;
   };
 }
diff --git a/ecal/core/src/sys_usage.cpp b/ecal/core/src/sys_usage.cpp
index 2e754b09c6..39d12dd468 100644
--- a/ecal/core/src/sys_usage.cpp
+++ b/ecal/core/src/sys_usage.cpp
@@ -180,7 +180,9 @@ static CpuUsage g_cpu_usage;
 float GetCPULoad()
 {
   static float usage = 0.0f;
-  usage = 0.98f * usage + 0.02f * static_cast<float>(g_cpu_usage.GetUsage());
+  short cpu_usage = g_cpu_usage.GetUsage();
+  // -1 means could not be evaluated yet, do not use that value ..
+  if (cpu_usage != -1) usage = 0.98f * usage + 0.02f * static_cast<float>(cpu_usage);
   return(usage * 0.01f);
 }
 
diff --git a/ecal/pb/src/ecal/pb/process.proto b/ecal/pb/src/ecal/pb/process.proto
index fd64b4d0cb..d18e449c77 100644
--- a/ecal/pb/src/ecal/pb/process.proto
+++ b/ecal/pb/src/ecal/pb/process.proto
@@ -65,8 +65,8 @@ message Process                                           // process
   int64                     pmemory              =  7;    // process memory
   float                     pcpu                 =  8;    // process cpu usage
   float                     usrptime             =  9;    // process user time
-  int32                     udpsbytes            = 10;    // udp send bytes per sec
-  int32                     udprbytes            = 11;    // udp receive bytes per sec
+  int64                     datawrite            = 10;    // data write bytes per sec
+  int64                     dataread             = 11;    // data read bytes per sec
   ProcessState              state                = 12;    // process state info
   eTSyncState               tsync_mode           = 13;    // time sychronisation mode
 }
diff --git a/samples/CMakeLists.txt b/samples/CMakeLists.txt
index 3e0208325f..a0e3c97483 100644
--- a/samples/CMakeLists.txt
+++ b/samples/CMakeLists.txt
@@ -28,7 +28,12 @@ add_subdirectory(c/minimal/minimal_rec_cb/src)
 add_subdirectory(c/minimal/minimal_snd/src)
 add_subdirectory(c/services/service_client/src)
 add_subdirectory(c/services/service_server/src)
-
+if (HAS_CAPNPROTO)
+add_subdirectory(cpp/capnp/addressbook_snd/src)
+add_subdirectory(cpp/capnp/addressbook_rec/src)
+add_subdirectory(cpp/capnp/addressbook_rec_cb/src)
+add_subdirectory(cpp/capnp/addressbook_rec_dynamic/src)
+endif (HAS_CAPNPROTO)
 add_subdirectory(cpp/counter/counter_rec_cb/src)
 add_subdirectory(cpp/counter/counter_snd/src)
 add_subdirectory(cpp/event/event_rec/src)
diff --git a/samples/cpp/capnp/addressbook_rec/src/CMakeLists.txt b/samples/cpp/capnp/addressbook_rec/src/CMakeLists.txt
new file mode 100644
index 0000000000..aacfdfe2fa
--- /dev/null
+++ b/samples/cpp/capnp/addressbook_rec/src/CMakeLists.txt
@@ -0,0 +1,37 @@
+# ========================= eCAL LICENSE =================================
+#
+# Copyright (C) 2016 - 2019 Continental Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+# 
+#      http://www.apache.org/licenses/LICENSE-2.0
+# 
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# ========================= eCAL LICENSE =================================
+
+project(addressbook_rec)
+
+find_package(CapnProto REQUIRED)
+find_package(eCAL REQUIRED)
+
+set(CAPNPC_IMPORT_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/capnp)
+capnp_generate_cpp(CAPNP_SRCS CAPNP_HDRS capnp/addressbook.capnp)
+
+ecal_add_sample(${PROJECT_NAME} addressbook_rec.cpp ${CAPNP_SRCS} ${CAPNP_HDRS})
+
+set_source_files_properties(${CAPNP_SRCS} PROPERTIES COMPILE_FLAGS $<$<CXX_COMPILER_ID:MSVC>:-W0>)
+
+target_include_directories(${PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/capnp)
+target_link_libraries(${PROJECT_NAME} PRIVATE CapnProto::capnp eCAL::core)
+target_link_options(${PROJECT_NAME} PRIVATE $<$<CXX_COMPILER_ID:MSVC>:/ignore:4099>)
+
+ecal_install_sample(${PROJECT_NAME})
+
+set_property(TARGET ${PROJECT_NAME} PROPERTY FOLDER samples/cpp/addressbook)
\ No newline at end of file
diff --git a/samples/cpp/capnp/addressbook_rec/src/addressbook_rec.cpp b/samples/cpp/capnp/addressbook_rec/src/addressbook_rec.cpp
index 619db26dc1..9d7f43fe91 100644
--- a/samples/cpp/capnp/addressbook_rec/src/addressbook_rec.cpp
+++ b/samples/cpp/capnp/addressbook_rec/src/addressbook_rec.cpp
@@ -19,9 +19,8 @@
 
 // capnp includes
 #ifdef _MSC_VER
-#pragma warning(push)
-#pragma warning(disable: 4100 4239)
-#endif
+#pragma warning(push, 0)
+#endif /*_MSC_VER*/
 #include "addressbook.capnp.h" 
 #ifdef _MSC_VER
 #pragma warning(pop)
@@ -84,7 +83,7 @@ int main(int argc, char **argv)
   eCAL::Process::SetState(proc_sev_healthy, proc_sev_level1, "I feel good !");
 
   // create a subscriber (topic name "addressbook")
-  eCAL::CCapnpSubscriber<AddressBook> sub("addressbook");
+  eCAL::capnproto::CSubscriber<AddressBook> sub("addressbook");
   // enter main loop
   while (eCAL::Ok())
   {
diff --git a/samples/cpp/capnp/addressbook_rec_cb/src/CMakeLists.txt b/samples/cpp/capnp/addressbook_rec_cb/src/CMakeLists.txt
new file mode 100644
index 0000000000..eb018bfbf2
--- /dev/null
+++ b/samples/cpp/capnp/addressbook_rec_cb/src/CMakeLists.txt
@@ -0,0 +1,37 @@
+# ========================= eCAL LICENSE =================================
+#
+# Copyright (C) 2016 - 2019 Continental Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+# 
+#      http://www.apache.org/licenses/LICENSE-2.0
+# 
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# ========================= eCAL LICENSE =================================
+
+project(addressbook_rec_cb)
+
+find_package(CapnProto REQUIRED)
+find_package(eCAL REQUIRED)
+
+set(CAPNPC_IMPORT_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/capnp)
+capnp_generate_cpp(CAPNP_SRCS CAPNP_HDRS capnp/addressbook.capnp)
+
+ecal_add_sample(${PROJECT_NAME} addressbook_rec_cb.cpp ${CAPNP_SRCS} ${CAPNP_HDRS})
+
+set_source_files_properties(${CAPNP_SRCS} PROPERTIES COMPILE_FLAGS $<$<CXX_COMPILER_ID:MSVC>:-W0>)
+
+target_include_directories(${PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/capnp)
+target_link_libraries(${PROJECT_NAME} PRIVATE CapnProto::capnp eCAL::core)
+target_link_options(${PROJECT_NAME} PRIVATE $<$<CXX_COMPILER_ID:MSVC>:/ignore:4099>)
+
+ecal_install_sample(${PROJECT_NAME})
+
+set_property(TARGET ${PROJECT_NAME} PROPERTY FOLDER samples/cpp/addressbook)
\ No newline at end of file
diff --git a/samples/cpp/capnp/addressbook_rec_cb/src/addressbook_rec_cb.cpp b/samples/cpp/capnp/addressbook_rec_cb/src/addressbook_rec_cb.cpp
new file mode 100644
index 0000000000..cd28202f77
--- /dev/null
+++ b/samples/cpp/capnp/addressbook_rec_cb/src/addressbook_rec_cb.cpp
@@ -0,0 +1,109 @@
+/* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * 
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ * 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
+*/
+
+// capnp includes
+#ifdef _MSC_VER
+#pragma warning(push, 0)
+#endif /*_MSC_VER*/
+#include "addressbook.capnp.h" 
+#ifdef _MSC_VER
+#pragma warning(pop)
+#endif
+
+#include <ecal/ecal.h>
+#include <ecal/msg/capnproto/subscriber.h>
+
+#include <iostream>
+#include <chrono>
+#include <thread>
+
+
+
+void printAddressBook(const AddressBook::Reader& addressBook)
+{
+  for (Person::Reader person : addressBook.getPeople())
+  {
+    std::cout << person.getName().cStr() << ": " << person.getEmail().cStr() << std::endl;
+    for (Person::PhoneNumber::Reader phone : person.getPhones())
+    {
+      const char* typeName = "UNKNOWN";
+      switch (phone.getType()) {
+      case Person::PhoneNumber::Type::MOBILE: typeName = "mobile"; break;
+      case Person::PhoneNumber::Type::HOME:   typeName = "home";   break;
+      case Person::PhoneNumber::Type::WORK:   typeName = "work";   break;
+      }
+      std::cout << "  " << typeName << " phone: " << phone.getNumber().cStr() << std::endl;
+    }
+    Person::Employment::Reader employment = person.getEmployment();
+
+    switch (employment.which())
+    {
+    case Person::Employment::UNEMPLOYED:
+      std::cout << "  unemployed" << std::endl;
+      break;
+    case Person::Employment::EMPLOYER:
+      std::cout << "  employer: "
+        << employment.getEmployer().cStr() << std::endl;
+      break;
+    case Person::Employment::SCHOOL:
+      std::cout << "  student at: "
+        << employment.getSchool().cStr() << std::endl;
+      break;
+    case Person::Employment::SELF_EMPLOYED:
+      std::cout << "  self-employed" << std::endl;
+      break;
+    }
+  }
+}
+
+void OnAddressbook(const char* topic_name_, AddressBook::Reader msg_, const long long time_)
+{
+  // print content
+  std::cout << "topic name : " << topic_name_ << std::endl;
+  std::cout << "time       : " << time_       << std::endl;
+  std::cout << std::endl;
+  printAddressBook(msg_);
+  std::cout << std::endl;
+}
+  
+int main(int argc, char **argv)
+{
+  // initialize eCAL API
+  eCAL::Initialize(argc, argv, "addressbook subscriber");
+
+  // set process state
+  eCAL::Process::SetState(proc_sev_healthy, proc_sev_level1, "I feel good !");
+
+  // create a subscriber (topic name "addressbook")
+  eCAL::capnproto::CSubscriber<AddressBook> sub("addressbook");
+
+  // add receive callback function (_1 = topic_name, _2 = msg, _3 = time)
+  auto callback = std::bind(OnAddressbook, std::placeholders::_1, std::placeholders::_2, std::placeholders::_3);
+  sub.AddReceiveCallback(callback);
+
+  // enter main loop
+  while (eCAL::Ok())
+  {
+    // sleep 500 ms
+    std::this_thread::sleep_for(std::chrono::milliseconds(500));
+  }
+
+  // finalize eCAL API
+  eCAL::Finalize();
+}
diff --git a/samples/cpp/capnp/addressbook_rec_cb/src/capnp/addressbook.capnp b/samples/cpp/capnp/addressbook_rec_cb/src/capnp/addressbook.capnp
new file mode 100644
index 0000000000..d1ea54a18d
--- /dev/null
+++ b/samples/cpp/capnp/addressbook_rec_cb/src/capnp/addressbook.capnp
@@ -0,0 +1,56 @@
+# Copyright (c) 2013-2014 Sandstorm Development Group, Inc. and contributors
+# Licensed under the MIT License:
+#
+# Permission is hereby granted, free of charge, to any person obtaining a copy
+# of this software and associated documentation files (the "Software"), to deal
+# in the Software without restriction, including without limitation the rights
+# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+# copies of the Software, and to permit persons to whom the Software is
+# furnished to do so, subject to the following conditions:
+#
+# The above copyright notice and this permission notice shall be included in
+# all copies or substantial portions of the Software.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+# THE SOFTWARE.
+
+@0x9eb32e19f86ee174;
+
+# using Cxx = import "/capnp/c++.capnp";
+# $Cxx.namespace("addressbook");
+
+struct Person {
+  id @0 :UInt32;
+  name @1 :Text;
+  email @2 :Text;
+  phones @3 :List(PhoneNumber);
+
+  struct PhoneNumber {
+    number @0 :Text;
+    type @1 :Type;
+
+    enum Type {
+      mobile @0;
+      home @1;
+      work @2;
+    }
+  }
+
+  employment :union {
+    unemployed @4 :Void;
+    employer @5 :Text;
+    school @6 :Text;
+    selfEmployed @7 :Void;
+    # We assume that a person is only one of these.
+  }
+}
+
+struct AddressBook {
+  people @0 :List(Person);
+}
+
diff --git a/samples/cpp/capnp/addressbook_rec_dynamic/src/CMakeLists.txt b/samples/cpp/capnp/addressbook_rec_dynamic/src/CMakeLists.txt
new file mode 100644
index 0000000000..f63d807b58
--- /dev/null
+++ b/samples/cpp/capnp/addressbook_rec_dynamic/src/CMakeLists.txt
@@ -0,0 +1,33 @@
+# ========================= eCAL LICENSE =================================
+#
+# Copyright (C) 2016 - 2019 Continental Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+# 
+#      http://www.apache.org/licenses/LICENSE-2.0
+# 
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# ========================= eCAL LICENSE =================================
+
+project(addressbook_rec_dynamic)
+
+find_package(CapnProto REQUIRED)
+find_package(eCAL REQUIRED)
+
+ecal_add_sample(${PROJECT_NAME} addressbook_rec_dynamic.cpp)
+
+target_include_directories(${PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/capnp)
+
+target_link_libraries(${PROJECT_NAME} PRIVATE CapnProto::capnp eCAL::core)
+target_link_options(${PROJECT_NAME} PRIVATE $<$<CXX_COMPILER_ID:MSVC>:/ignore:4099>)
+
+ecal_install_sample(${PROJECT_NAME})
+
+set_property(TARGET ${PROJECT_NAME} PROPERTY FOLDER samples/cpp/addressbook)
\ No newline at end of file
diff --git a/samples/cpp/capnp/addressbook_rec_dynamic/src/addressbook_rec_dynamic.cpp b/samples/cpp/capnp/addressbook_rec_dynamic/src/addressbook_rec_dynamic.cpp
new file mode 100644
index 0000000000..c25c8f3d38
--- /dev/null
+++ b/samples/cpp/capnp/addressbook_rec_dynamic/src/addressbook_rec_dynamic.cpp
@@ -0,0 +1,130 @@
+/* ========================= eCAL LICENSE =================================
+ *
+ * Copyright (C) 2016 - 2019 Continental Corporation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ * 
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ * 
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ * ========================= eCAL LICENSE =================================
+*/
+
+#include <iostream>
+#include <chrono>
+#include <thread>
+
+#include <ecal/ecal.h>
+#include <ecal/msg/capnproto/dynamic.h>
+
+
+void dynamicPrintValue(const capnp::DynamicValue::Reader& value)
+{
+  using namespace capnp;
+  // Print an arbitrary message via the dynamic API by
+  // iterating over the schema.  Look at the handling
+  // of STRUCT in particular.
+
+  switch (value.getType()) {
+  case DynamicValue::VOID:
+    std::cout << "";
+    break;
+  case DynamicValue::BOOL:
+    std::cout << (value.as<bool>() ? "true" : "false");
+    break;
+  case DynamicValue::INT:
+    std::cout << value.as<int64_t>();
+    break;
+  case DynamicValue::UINT:
+    std::cout << value.as<uint64_t>();
+    break;
+  case DynamicValue::FLOAT:
+    std::cout << value.as<double>();
+    break;
+  case DynamicValue::TEXT:
+    std::cout << '\"' << value.as<Text>().cStr() << '\"';
+    break;
+  case DynamicValue::LIST: {
+    std::cout << "[";
+    bool first = true;
+    for (auto element : value.as<DynamicList>()) {
+      if (first) {
+        first = false;
+      }
+      else {
+        std::cout << ", ";
+      }
+      dynamicPrintValue(element);
+    }
+    std::cout << "]";
+    break;
+  }
+  case DynamicValue::ENUM: {
+    auto enumValue = value.as<DynamicEnum>();
+    KJ_IF_MAYBE(enumerant, enumValue.getEnumerant()) {
+      std::cout <<
+        enumerant->getProto().getName().cStr();
+    }
+ else {
+   // Unknown enum value; output raw number.
+   std::cout << enumValue.getRaw();
+ }
+ break;
+  }
+  case DynamicValue::STRUCT: {
+    std::cout << "(";
+    auto structValue = value.as<DynamicStruct>();
+    bool first = true;
+    for (auto field : structValue.getSchema().getFields()) {
+      if (!structValue.has(field)) continue;
+      if (first) {
+        first = false;
+      }
+      else {
+        std::cout << ", ";
+      }
+      std::cout << field.getProto().getName().cStr()
+        << " = ";
+      dynamicPrintValue(structValue.get(field));
+    }
+    std::cout << ")";
+    std::cout << "\n";
+    break;
+  }
+  default:
+    // There are other types, we aren't handling them.
+    std::cout << "?";
+    break;
+  }
+}
+
+int main(int argc, char **argv)
+{
+  // initialize eCAL API
+  eCAL::Initialize(argc, argv, "addressbook subscriber");
+
+  eCAL::Process::SetState(proc_sev_healthy, proc_sev_level1, "I feel good !");
+
+  // create a subscriber (topic name "addressbook")
+  eCAL::capnproto::CDynamicSubscriber sub("addressbook");
+
+  auto callback = std::bind(dynamicPrintValue, std::placeholders::_2);
+  sub.AddReceiveCallback(callback);
+
+  // enter main loop
+  while (eCAL::Ok())
+  {
+    // sleep 500 ms
+    std::this_thread::sleep_for(std::chrono::milliseconds(500));
+  }
+
+  // finalize eCAL API
+  eCAL::Finalize();
+}
diff --git a/samples/cpp/capnp/addressbook_snd/src/CMakeLists.txt b/samples/cpp/capnp/addressbook_snd/src/CMakeLists.txt
new file mode 100644
index 0000000000..3221a98860
--- /dev/null
+++ b/samples/cpp/capnp/addressbook_snd/src/CMakeLists.txt
@@ -0,0 +1,37 @@
+# ========================= eCAL LICENSE =================================
+#
+# Copyright (C) 2016 - 2019 Continental Corporation
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+# 
+#      http://www.apache.org/licenses/LICENSE-2.0
+# 
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#
+# ========================= eCAL LICENSE =================================
+
+project(addressbook_snd)
+
+find_package(CapnProto REQUIRED)
+find_package(eCAL REQUIRED)
+
+set(CAPNPC_IMPORT_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/capnp)
+capnp_generate_cpp(CAPNP_SRCS CAPNP_HDRS capnp/addressbook.capnp)
+
+ecal_add_sample(${PROJECT_NAME} addressbook_snd.cpp ${CAPNP_SRCS} ${CAPNP_HDRS})
+
+set_source_files_properties(${CAPNP_SRCS} PROPERTIES COMPILE_FLAGS $<$<CXX_COMPILER_ID:MSVC>:-W0>)
+
+target_include_directories(${PROJECT_NAME} PRIVATE ${CMAKE_CURRENT_BINARY_DIR}/capnp)
+target_link_libraries(${PROJECT_NAME} PRIVATE CapnProto::capnp eCAL::core)
+target_link_options(${PROJECT_NAME} PRIVATE $<$<CXX_COMPILER_ID:MSVC>:/ignore:4099>)
+
+ecal_install_sample(${PROJECT_NAME})
+
+set_property(TARGET ${PROJECT_NAME} PROPERTY FOLDER samples/cpp/addressbook)
\ No newline at end of file
diff --git a/samples/cpp/capnp/addressbook_snd/src/addressbook_snd.cpp b/samples/cpp/capnp/addressbook_snd/src/addressbook_snd.cpp
index fc8a69aceb..90cc24529b 100644
--- a/samples/cpp/capnp/addressbook_snd/src/addressbook_snd.cpp
+++ b/samples/cpp/capnp/addressbook_snd/src/addressbook_snd.cpp
@@ -28,9 +28,8 @@
 
 // capnp includes
 #ifdef _MSC_VER
-#pragma warning(push)
-#pragma warning(disable: 4100 4239)
-#endif
+#pragma warning(push, 0)
+#endif /*_MSC_VER*/
 #include "addressbook.capnp.h" 
 #ifdef _MSC_VER
 #pragma warning(pop)
@@ -51,7 +50,7 @@ int main(int argc, char **argv)
   eCAL::Process::SetState(proc_sev_healthy, proc_sev_level1, "I feel good !");
 
   // create a publisher (topic name "addressbook")
-  eCAL::CCapnpPublisher<AddressBook> pub("addressbook");
+  eCAL::capnproto::CPublisher<AddressBook> pub("addressbook");
 
   auto addressBook = pub.GetBuilder();
   auto people = addressBook.initPeople(2);
@@ -65,7 +64,7 @@ int main(int argc, char **argv)
   alicePhones[0].setNumber("555-1212");
   alicePhones[0].setType(Person::PhoneNumber::Type::MOBILE);
   alice.getEmployment().setSchool("MIT");
-  alice.setWeight(60.4);
+  alice.setWeight(60.4f);
   
   kj::byte* data = new kj::byte[6];
   data[0] = 0x1F;
@@ -88,7 +87,7 @@ int main(int argc, char **argv)
   bobPhones[1].setNumber("555-7654");
   bobPhones[1].setType(Person::PhoneNumber::Type::WORK);
   bob.getEmployment().setUnemployed();
-  bob.setWeight(80.8);
+  bob.setWeight(80.8f);
 
   // enter main loop
   while (eCAL::Ok())
diff --git a/samples/cpp/event/event_rec/src/CMakeLists.txt b/samples/cpp/event/event_rec/src/CMakeLists.txt
index b943a96368..5bbe321407 100644
--- a/samples/cpp/event/event_rec/src/CMakeLists.txt
+++ b/samples/cpp/event/event_rec/src/CMakeLists.txt
@@ -18,7 +18,6 @@
 
 project(event_rec)
 
-
 find_package(eCAL REQUIRED)
 
 set(event_rec_src
diff --git a/samples/cpp/monitoring/monitoring_rec/src/monitoring_rec.cpp b/samples/cpp/monitoring/monitoring_rec/src/monitoring_rec.cpp
index 26d98ecb60..58f9e31c61 100644
--- a/samples/cpp/monitoring/monitoring_rec/src/monitoring_rec.cpp
+++ b/samples/cpp/monitoring/monitoring_rec/src/monitoring_rec.cpp
@@ -111,8 +111,8 @@ int main(int argc, char **argv)
         std::cout << "pmemory         : " << process.pmemory()           << std::endl;   // process memory
         std::cout << "pcpu            : " << process.pcpu()              << std::endl;   // process cpu usage
         std::cout << "usrptime        : " << process.usrptime()          << std::endl;   // process user time
-        std::cout << "udpsbytes       : " << process.udpsbytes()         << std::endl;   // udp send bytes per sec
-        std::cout << "udprbytes       : " << process.udprbytes()         << std::endl;   // udp receive bytes per sec
+        std::cout << "datawrite       : " << process.datawrite()         << std::endl;   // data write bytes per sec
+        std::cout << "dataread        : " << process.dataread()          << std::endl;   // date read bytes per sec
         std::cout << "severity        : " << process.state().severity()  << std::endl;   // process state severity
         std::cout << "info            : " << process.state().info()      << std::endl;   // process state info
         std::cout << std::endl;