Feature/nanobind core

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -118,7 +118,7 @@ body:
       Platform                 : x64
 
       ------------------------- CONFIGURATION --------------------------
-      Default INI              : C:\ProgramData\eCAL\ecal.ini
+      Default YAML             : C:\ProgramData\eCAL\ecal.yaml
 
       ------------------------- NETWORK --------------------------------
       Host name                : FRLBJRXW

.github/workflows/build-macos.yml

@@ -11,32 +11,21 @@ jobs:
     runs-on: macos-13
 
     steps:
-    - name: Downgrade Python version
-      uses: actions/setup-python@v4
-      id: cp39
-      with:
-        python-version: '3.9'
+      # XProtect can cause random failures if it decides that the DMG we create
+      # during the packaging phase is malware.
+      # See https://github.com/actions/runner-images/issues/7522 and https://github.com/servo/servo/pull/30779
+    - name: Kill XProtectBehaviorService
+      run: |
+          echo Killing XProtect.; sudo pkill -9 XProtect >/dev/null || true;
+
+    - name: Install latest Python3 via brew
+      run: brew install python3 || brew link --overwrite [email protected]
 
-    - name: Install Qt
-      uses: jurplel/install-qt-action@v3
-      with:
-        setup-python: false
-        version: '5.15.2'
-        target: 'desktop'
+    - name: Install latest Qt5 via brew
+      run: brew install qt@5
 
     - name: Install Dependencies
-      run: brew install ninja doxygen graphviz protobuf [email protected] pkg-config
-
-    - name: Install Cap’n Proto
-      run: |
-        mkdir "${{ runner.workspace }}/capnp"
-        cd "${{ runner.workspace }}/capnp"
-        curl -O https://capnproto.org/capnproto-c++-0.9.0.tar.gz
-        tar zxf capnproto-c++-0.9.0.tar.gz
-        cd capnproto-c++-0.9.0
-        ./configure
-        make -j
-        sudo make install
+      run: brew install ninja doxygen graphviz protobuf [email protected] pkg-config capnp
 
     - name: Checkout
       uses: actions/checkout@v4
@@ -49,7 +38,7 @@ jobs:
 
     - name: Install Python requirements
       run: |
-        sudo pip3 install -r "$GITHUB_WORKSPACE/doc/requirements.txt"
+        sudo pip3 install -r "$GITHUB_WORKSPACE/doc/requirements.txt" --break-system-packages
 
     - name: CMake
       run: |
@@ -84,20 +73,23 @@ jobs:
         -DECAL_THIRDPARTY_BUILD_RECYCLE=ON \
         -DECAL_THIRDPARTY_BUILD_TCP_PUBSUB=ON \
         -DECAL_THIRDPARTY_BUILD_QWT=ON \
-        -DECAL_THIRDPARTY_BUILD_YAML-CPP=ON \
         -DCMAKE_BUILD_TYPE=Release \
-        -DCMAKE_PREFIX_PATH=/usr/local/opt/[email protected] \
+        -DCMAKE_PREFIX_PATH="/usr/local/opt/[email protected];/usr/local/opt/qt@5" \
         -DCMAKE_CXX_STANDARD=17 \
         -DCMAKE_FIND_PACKAGE_PREFER_CONFIG=ON \
         -DPython_FIND_STRATEGY=LOCATION \
-        -DPython_FIND_REGISTRY=NEVER
-        sudo mkdir /etc/ecal
-        sudo cp "$GITHUB_WORKSPACE/ecal/core/cfg/ecal.ini" /etc/ecal
+        -DPython_FIND_REGISTRY=NEVER        
       shell: bash
 
     - name: Build Release
       run: cmake --build . --config Release
       working-directory: ${{ runner.workspace }}/_build
+
+    - name: Create config path and copy ecal.yaml
+      run: | 
+           sudo mkdir /etc/ecal
+           sudo cp "./ecal/core/cfg/gen/ecal.yaml" /etc/ecal
+      working-directory: ${{ runner.workspace }}/_build
 
 #    - name: Build Documentation C
 #      run: cmake --build . --target documentation_c

.github/workflows/build-ubuntu.yml

@@ -135,21 +135,24 @@ jobs:
         -DECAL_THIRDPARTY_BUILD_RECYCLE=ON \
         -DECAL_THIRDPARTY_BUILD_TCP_PUBSUB=ON \
         -DECAL_THIRDPARTY_BUILD_QWT=ON \
-        -DECAL_THIRDPARTY_BUILD_YAML-CPP=OFF \
         -DCMAKE_BUILD_TYPE=Release \
         -DCMAKE_INSTALL_SYSCONFDIR=/etc \
         -DCMAKE_INSTALL_PREFIX=/usr \
         -DCMAKE_INSTALL_LOCALSTATEDIR=/var \
         -DCMAKE_INSTALL_LIBDIR=lib/x86_64-linux-gnu \
         -DPython_FIND_VIRTUALENV=ONLY
-
-        sudo mkdir /etc/ecal
-        sudo cp "$GITHUB_WORKSPACE/ecal/core/cfg/ecal.ini" /etc/ecal
       shell: bash
 
     - name: Build Release
       run: cmake --build . --parallel -- -k 0
       working-directory: ${{ runner.workspace }}/_build
+
+    - name: Create config path and copy ecal.yaml
+      run: |
+           sudo mkdir /etc/ecal
+           sudo cp "./ecal/core/cfg/gen/ecal.yaml" /etc/ecal
+      working-directory: ${{ runner.workspace }}/_build
+      shell: bash
 
     - name: Run Tests
       run: ctest -V

.github/workflows/build-windows.yml

@@ -90,7 +90,6 @@ jobs:
         -DECAL_THIRDPARTY_BUILD_RECYCLE=ON ^
         -DECAL_THIRDPARTY_BUILD_TCP_PUBSUB=ON ^
         -DECAL_THIRDPARTY_BUILD_QWT=OFF ^
-        -DECAL_THIRDPARTY_BUILD_YAML-CPP=OFF ^
         -DECAL_THIRDPARTY_BUILD_UDPCAP=ON ^
         -DBUILD_SHARED_LIBS=OFF ^
         -DCMAKE_PREFIX_PATH="%ProgramFiles%/Cap'n Proto/lib/cmake/CapnProto" ^
@@ -131,14 +130,11 @@ jobs:
         -DECAL_THIRDPARTY_BUILD_RECYCLE=ON ^
         -DECAL_THIRDPARTY_BUILD_TCP_PUBSUB=ON ^
         -DECAL_THIRDPARTY_BUILD_QWT=ON ^
-        -DECAL_THIRDPARTY_BUILD_YAML-CPP=ON ^
         -DECAL_THIRDPARTY_BUILD_UDPCAP=ON ^
         -DBUILD_SHARED_LIBS=OFF ^
         -DCMAKE_PREFIX_PATH="%ProgramFiles%/Cap'n Proto/lib/cmake/CapnProto" ^
         -DCMAKE_BUILD_TYPE=Release ^
-        -DCPACK_PACK_WITH_INNOSETUP=ON
-        mkdir "%ALLUSERSPROFILE%\eCAL"
-        copy "%GITHUB_WORKSPACE%\ecal\core\cfg\ecal.ini" "%ALLUSERSPROFILE%\eCAL"
+        -DCPACK_PACK_WITH_INNOSETUP=ON        
       shell: cmd
 
     - name: Build SDK
@@ -149,6 +145,13 @@ jobs:
       run: cmake --build . --config Release
       working-directory: ${{ runner.workspace }}/_build/complete
 
+    - name: Create config path and copy ecal.yaml
+      run: |
+           mkdir "%ALLUSERSPROFILE%\eCAL"
+           copy ".\ecal\core\cfg\gen\ecal.yaml" "%ALLUSERSPROFILE%\eCAL"
+      working-directory: ${{ runner.workspace }}/_build/complete
+      shell: cmd
+
     - name: Run Tests
       run: ctest -C Release -V
       working-directory: ${{ runner.workspace }}/_build/complete

.github/workflows/clang-tidy-review.yml

@@ -68,7 +68,6 @@ jobs:
                     -DECAL_THIRDPARTY_BUILD_RECYCLE=ON \
                     -DECAL_THIRDPARTY_BUILD_TCP_PUBSUB=ON \
                     -DECAL_THIRDPARTY_BUILD_QWT=OFF \
-                    -DECAL_THIRDPARTY_BUILD_YAML-CPP=OFF \
                     -DCMAKE_BUILD_TYPE=Release \
                     -DCMAKE_INSTALL_SYSCONFDIR=/etc \
                     -DCMAKE_INSTALL_PREFIX=/usr \

.github/workflows/documentation.yml

@@ -73,7 +73,6 @@ jobs:
         -DECAL_THIRDPARTY_BUILD_RECYCLE=ON \
         -DECAL_THIRDPARTY_BUILD_TCP_PUBSUB=ON \
         -DECAL_THIRDPARTY_BUILD_QWT=OFF \
-        -DECAL_THIRDPARTY_BUILD_YAML-CPP=OFF \
         -DCMAKE_BUILD_TYPE=Release \
         -DCMAKE_INSTALL_SYSCONFDIR=/etc \
         -DCMAKE_INSTALL_PREFIX=/usr \

CMakeLists.txt

@@ -103,7 +103,7 @@ option(ECAL_USE_CLOCKLOCK_MUTEX                "Use native mutex with monotonic
 set(ECAL_CORE_HAS_PROTOBUF                                                                                         ON)
 set(ECAL_CORE_BUILD_SAMPLES                                                                          ${BUILD_SAMPLES})
 set(ECAL_CORE_BUILD_TESTS                                                                         ${BUILD_ECAL_TESTS})
-set(ECAL_CORE_CONFIG_INIFILE                                                                                       ON)
+set(ECAL_CORE_CONFIGURATION                                                                                        ON)
 set(ECAL_CORE_COMMAND_LINE                                                                                         ON)
 set(ECAL_CORE_REGISTRATION                                                                                         ON)
 set(ECAL_CORE_MONITORING                                                                                           ON)

CMakePresets.json

@@ -50,13 +50,13 @@
         "HAS_FTXUI": "OFF",
         "BUILD_APPS": "OFF",
         "BUILD_SAMPLES": "OFF",
+        "ECAL_CORE_CONFIGURATION": "OFF",
         "ECAL_INSTALL_SAMPLE_SOURCES": "OFF",
         "ECAL_THIRDPARTY_BUILD_FINEFTP": "OFF",
         "ECAL_THIRDPARTY_BUILD_FTXUI": "OFF",
         "ECAL_THIRDPARTY_BUILD_SPDLOG": "OFF",
         "ECAL_THIRDPARTY_BUILD_TERMCOLOR": "OFF",
         "ECAL_THIRDPARTY_BUILD_TINYXML2": "OFF",
-        "ECAL_THIRDPARTY_BUILD_YAML-CPP": "OFF",
         "ECAL_THIRDPARTY_BUILD_CURL": "OFF",
         "ECAL_THIRDPARTY_BUILD_HDF5": "OFF"
       }
@@ -100,7 +100,6 @@
         "ECAL_THIRDPARTY_BUILD_SPDLOG": "ON",
         "ECAL_THIRDPARTY_BUILD_TERMCOLOR": "ON",
         "ECAL_THIRDPARTY_BUILD_TINYXML2": "ON",
-        "ECAL_THIRDPARTY_BUILD_YAML-CPP": null,
         "ECAL_THIRDPARTY_BUILD_CURL": null,
         "ECAL_THIRDPARTY_BUILD_HDF5": null
       }

app/meas_cutter/CMakeLists.txt

@@ -1,6 +1,6 @@
 # ========================= eCAL LICENSE =================================
 #
-# Copyright (C) 2016 - 2019 Continental Corporation
+# Copyright (C) 2016 - 2024 Continental Corporation
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
 # you may not use this file except in compliance with the License.
@@ -22,13 +22,8 @@ find_package(Threads REQUIRED)
 find_package(tclap REQUIRED)
 find_package(yaml-cpp REQUIRED)
 
-#compatibility with yaml-cpp < 0.8.0
-if (NOT TARGET yaml-cpp::yaml-cpp AND TARGET yaml-cpp)
-  # ALIASing a imported non-global library requires CMake 3.18 so we do this
-  add_library(yaml-cpp::yaml-cpp INTERFACE IMPORTED)
-  target_link_libraries(yaml-cpp::yaml-cpp INTERFACE yaml-cpp)
-endif()
-
+include(${ECAL_PROJECT_ROOT}/thirdparty/yaml-cpp/compatibility-yaml-cpp.cmake)
+yaml_cpp_create_compatibility_targets()
 
 set(meas_cutter_src
     src/main.cpp

app/mon/mon_cli/src/ecal_mon_cli.cpp

@@ -353,7 +353,7 @@ void ProcProto(const std::string& topic_name, int msg_count)
 
   // get topic type
   eCAL::SDataTypeInformation topic_info;
-  eCAL::Util::GetTopicDataTypeInformation(topic_name, topic_info);
+  eCAL::Registration::GetTopicDataTypeInformation(topic_name, topic_info);
   if(topic_info.name.empty())
   {
     std::cout << "could not get type name for topic " << topic_name << std::endl;

app/mon/mon_gui/src/ecalmon.cpp

@@ -102,21 +102,21 @@ Ecalmon::Ecalmon(QWidget *parent)
 
     if (multicast_ttl <= 0)
     {
-      network_mode_widget_->setToolTip("ERROR: Network enabled but TTL is " + QString::number(multicast_ttl) + ". Change via ecal.ini");
+      network_mode_widget_->setToolTip("ERROR: Network enabled but TTL is " + QString::number(multicast_ttl) + ". Change via ecal.yaml");
       network_mode_widget_->setStyleSheet("background-color: rgb(255, 128, 128); color: black");
       network_mode_warning_icon_->setVisible(true);
     }
     else
     {
       network_mode_widget_->setStyleSheet("background-color: rgb(80, 255, 120); color: black");
-      network_mode_widget_->setToolTip("Change via ecal.ini");
+      network_mode_widget_->setToolTip("Change via ecal.yaml");
     }
   }
   else
   {
     network_mode_label_->setText("Network mode: Local");
     network_mode_widget_->setStyleSheet("background-color: rgb(44, 148, 255); color: black");
-    network_mode_widget_->setToolTip("Change via ecal.ini");
+    network_mode_widget_->setToolTip("Change via ecal.yaml");
   }
 
   error_label_                = new QLabel(this);

app/mon/mon_gui/src/widgets/ecalmon_tree_widget/topic_widget.cpp

@@ -192,11 +192,11 @@ void TopicWidget::loadRegExpLists()
   include_string = QString::fromStdString(eCAL::Config::GetMonitoringFilterIncludeList()); //ini.GetValue(MON_SECTION_S, MON_FILTER_INCL_S);
 
 
-  // The ecal.ini defines a very strange regex format: A filter consists of
+  // The ecal.yaml defines a very strange regex format: A filter consists of
   // several regular expressions divided by "," or ";". Thus we have to
   // split the string into 'actual' regular expressions. This will break every
   // regular expression that properly uses a ",". We cannot do anything about
-  // that without changing the ecal.ini specification.
+  // that without changing the ecal.yaml specification.
 #if QT_VERSION >= QT_VERSION_CHECK(5, 14, 0)
   QList<QString> const exclude_string_list = exclude_string.split(QRegularExpression("[\\,,;]"), Qt::SplitBehaviorFlags::SkipEmptyParts);
   QList<QString> const include_string_list = include_string.split(QRegularExpression("[\\,,;]"), Qt::SplitBehaviorFlags::SkipEmptyParts);

app/mon/mon_gui/src/widgets/models/topic_tree_item.cpp

@@ -1,6 +1,6 @@
 /* ========================= eCAL LICENSE =================================
  *
- * Copyright (C) 2016 - 2019 Continental Corporation
+ * Copyright (C) 2016 - 2024 Continental Corporation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -95,7 +95,7 @@ QVariant TopicTreeItem::data(Columns column, Qt::ItemDataRole role) const
         if (!monitor_topic_name.empty())
         {
           eCAL::SDataTypeInformation topic_info;
-          eCAL::Util::GetTopicDataTypeInformation(monitor_topic_name, topic_info);
+          eCAL::Registration::GetTopicDataTypeInformation(monitor_topic_name, topic_info);
           return topic_info.encoding.c_str();
         }
       }
@@ -115,7 +115,7 @@ QVariant TopicTreeItem::data(Columns column, Qt::ItemDataRole role) const
         if (!monitor_topic_name.empty())
         {
           eCAL::SDataTypeInformation topic_info;
-          eCAL::Util::GetTopicDataTypeInformation(monitor_topic_name, topic_info);
+          eCAL::Registration::GetTopicDataTypeInformation(monitor_topic_name, topic_info);
           return topic_info.name.c_str();
         }
       }
@@ -209,7 +209,7 @@ QVariant TopicTreeItem::data(Columns column, Qt::ItemDataRole role) const
       for (const auto& layer : layer_pb)
       {
         QString this_layer_string;
-        if (layer.confirmed())
+        if (layer.active())
         {
           switch (layer.type())
           {

app/mon/mon_tui/src/model/monitor.hpp

@@ -1,6 +1,6 @@
 /* ========================= eCAL LICENSE =================================
  *
- * Copyright (C) 2016 - 2019 Continental Corporation
+ * Copyright (C) 2016 - 2024 Continental Corporation
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -204,7 +204,7 @@ class MonitorModel
       topic.type_descriptor = std::move(*t.mutable_tdatatype()->mutable_desc());
       for(auto &tl: t.tlayer())
       {
-        if (tl.confirmed())
+        if (tl.active())
         {
           topic.transport_layers.emplace_back(TopicTransportLayer(tl.type()));
         }

app/rec/rec_client_core/src/job/record_job.cpp

@@ -164,7 +164,7 @@ namespace eCAL
           }
         }
 
-        // Copy ecal.ini
+        // Copy ecal.yaml
 #ifdef CopyFile
 #define CopyFile_6376c040f4f54106b205ef6ddbb2090a CopyFile
 #undef CopyFile
@@ -174,28 +174,28 @@ namespace eCAL
 
           if (ecal_ini_original_path.empty())
           {
-            const std::string error_message = "Error copying ecal.ini: The system information does not contain \"Default INI\" identifier."; 
+            const std::string error_message = "Error copying ecal.yaml: The system information does not contain \"Default INI\" identifier."; 
             info_ = { false, error_message };
             EcalRecLogger::Instance()->error(error_message);
           }
 
           if (EcalUtils::Filesystem::IsFile(ecal_ini_original_path))
           {
-            std::string ecal_ini_dest_path = EcalUtils::Filesystem::ToNativeSeperators(hostname_dir + "/ecal.ini");
-            EcalRecLogger::Instance()->info("Copying ecal.ini from \"" + ecal_ini_original_path + "\" to \"" + ecal_ini_dest_path + "\"");
+            std::string ecal_ini_dest_path = EcalUtils::Filesystem::ToNativeSeperators(hostname_dir + "/ecal.yaml");
+            EcalRecLogger::Instance()->info("Copying ecal.yaml from \"" + ecal_ini_original_path + "\" to \"" + ecal_ini_dest_path + "\"");
 
             if (!EcalUtils::Filesystem::CopyFile(ecal_ini_original_path, ecal_ini_dest_path, EcalUtils::Filesystem::OsStyle::Current))
             {
-              const std::string error_message = "Error copying ecal.ini file to \"" + ecal_ini_dest_path + "\""; 
+              const std::string error_message = "Error copying ecal.yaml file to \"" + ecal_ini_dest_path + "\""; 
               info_ = { false, error_message };
               EcalRecLogger::Instance()->error(error_message);
             }
           }
           else
           {
-            const std::string error_message = "Warning: ecal.ini does not exist and will not be copied."; 
+            const std::string error_message = "Warning: ecal.yaml does not exist and will not be copied."; 
             info_ = { false, error_message };
-            EcalRecLogger::Instance()->warn("Warning: ecal.ini does not exist and will not be copied.");
+            EcalRecLogger::Instance()->warn("Warning: ecal.yaml does not exist and will not be copied.");
           }
         }
 #ifdef CopyFile_6376c040f4f54106b205ef6ddbb2090a

build_win/win_make_cmake.bat

@@ -32,7 +32,6 @@ set CMAKE_OPTIONS_COMPLETE=-DCMAKE_INSTALL_PREFIX=_install ^
 -DECAL_THIRDPARTY_BUILD_RECYCLE=ON ^
 -DECAL_THIRDPARTY_BUILD_TCP_PUBSUB=ON ^
 -DECAL_THIRDPARTY_BUILD_QWT=ON ^
--DECAL_THIRDPARTY_BUILD_YAML-CPP=ON ^
 -DECAL_THIRDPARTY_BUILD_UDPCAP=ON ^
 -DBUILD_SHARED_LIBS=OFF ^
 -DCMAKE_BUILD_TYPE=Release ^
@@ -66,7 +65,6 @@ set CMAKE_OPTIONS_SDK=-DCMAKE_INSTALL_PREFIX=_install ^
 -DECAL_THIRDPARTY_BUILD_RECYCLE=ON ^
 -DECAL_THIRDPARTY_BUILD_TCP_PUBSUB=ON ^
 -DECAL_THIRDPARTY_BUILD_QWT=OFF ^
--DECAL_THIRDPARTY_BUILD_YAML-CPP=OFF ^
 -DECAL_THIRDPARTY_BUILD_UDPCAP=ON ^
 -DBUILD_SHARED_LIBS=OFF ^
 -DCMAKE_BUILD_TYPE=Debug ^