[core] new-pub-sub-matching-compatible (eclipse-ecal#1665)

ashariff-11 · Jul 18, 2024 · 3441e62 · 3441e62
1 parent 4659192
commit 3441e62
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Showing 6 changed files with 54 additions and 16 deletions.
diff --git a/ecal/core/CMakeLists.txt b/ecal/core/CMakeLists.txt
@@ -217,6 +217,10 @@ endif()
 ######################################
 # readwrite
 ######################################
+set(ecal_readwrite_src
+    src/readwrite/ecal_transport_layer.h
+)
+
 if(ECAL_CORE_PUBLISHER)
   set(ecal_writer_src
       src/readwrite/ecal_writer.cpp
@@ -537,6 +541,7 @@ set(ecal_sources
     ${ecal_monitoring_src}
     ${ecal_pub_src}
     ${ecal_sub_src}
+    ${ecal_readwrite_src}
     ${ecal_writer_src}
     ${ecal_reader_src}
     ${ecal_registration_src}

diff --git a/ecal/core/src/pubsub/ecal_pubgate.cpp b/ecal/core/src/pubsub/ecal_pubgate.cpp
@@ -129,7 +129,9 @@ namespace eCAL
     CDataWriter::SLayerStates layer_states;
     for (const auto& layer : ecal_topic.tlayer)
     {
-      if (layer.enabled)
+      // transport layer versions 0 and 1 did not support dynamic layer enable feature
+      // so we set assume layer is enabled if we receive a registration in this case
+      if (layer.enabled || (layer.version < 2))
       {
         switch (layer.type)
         {

diff --git a/ecal/core/src/pubsub/ecal_subgate.cpp b/ecal/core/src/pubsub/ecal_subgate.cpp
@@ -232,7 +232,9 @@ namespace eCAL
     CDataReader::SLayerStates layer_states;
     for (const auto& layer : ecal_topic.tlayer)
     {
-      if (layer.enabled)
+      // transport layer versions 0 and 1 did not support dynamic layer enable feature
+      // so we set assume layer is enabled if we receive a registration in this case
+      if (layer.enabled || layer.version < 2)
       {
         switch (layer.type)
         {

diff --git a/ecal/core/src/readwrite/ecal_reader.cpp b/ecal/core/src/readwrite/ecal_reader.cpp
@@ -32,6 +32,7 @@
 #include "ecal_reader.h"
 #include "ecal_global_accessors.h"
 #include "ecal_reader_layer.h"
+#include "ecal_transport_layer.h"
 
 #if ECAL_CORE_TRANSPORT_UDP
 #include "udp/ecal_reader_udp.h"
@@ -589,9 +590,9 @@ namespace eCAL
     {
       Registration::TLayer udp_tlayer;
       udp_tlayer.type      = tl_ecal_udp;
-      udp_tlayer.version   = 1;
+      udp_tlayer.version   = ecal_transport_layer_version;
       udp_tlayer.enabled   = m_layers.udp.read_enabled;
-      udp_tlayer.active = m_layers.udp.active;
+      udp_tlayer.active    = m_layers.udp.active;
       ecal_reg_sample_topic.tlayer.push_back(udp_tlayer);
     }
 #endif
@@ -601,9 +602,9 @@ namespace eCAL
     {
       Registration::TLayer shm_tlayer;
       shm_tlayer.type      = tl_ecal_shm;
-      shm_tlayer.version   = 1;
+      shm_tlayer.version   = ecal_transport_layer_version;
       shm_tlayer.enabled   = m_layers.shm.read_enabled;
-      shm_tlayer.active = m_layers.shm.active;
+      shm_tlayer.active    = m_layers.shm.active;
       ecal_reg_sample_topic.tlayer.push_back(shm_tlayer);
     }
 #endif
@@ -613,9 +614,9 @@ namespace eCAL
     {
       Registration::TLayer tcp_tlayer;
       tcp_tlayer.type      = tl_ecal_tcp;
-      tcp_tlayer.version   = 1;
+      tcp_tlayer.version   = ecal_transport_layer_version;
       tcp_tlayer.enabled   = m_layers.tcp.read_enabled;
-      tcp_tlayer.active = m_layers.tcp.active;
+      tcp_tlayer.active    = m_layers.tcp.active;
       ecal_reg_sample_topic.tlayer.push_back(tcp_tlayer);
     }
 #endif

diff --git a/ecal/core/src/readwrite/ecal_transport_layer.h b/ecal/core/src/readwrite/ecal_transport_layer.h
@@ -0,0 +1,29 @@
+/* ========================= eCAL LICENSE =================================
+ *
+ * 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.
+ * 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 =================================
+*/
+
+/**
+ * @brief  transport layer settings
+**/
+
+#pragma once
+
+namespace eCAL
+{
+  constexpr int ecal_transport_layer_version = 2;
+}
diff --git a/ecal/core/src/readwrite/ecal_writer.cpp b/ecal/core/src/readwrite/ecal_writer.cpp
@@ -35,8 +35,7 @@
 #include "ecal_writer.h"
 #include "ecal_writer_base.h"
 #include "ecal_writer_buffer_payload.h"
-
-#include "pubsub/ecal_pubgate.h"
+#include "ecal_transport_layer.h"
 
 #include <chrono>
 #include <functional>
@@ -643,9 +642,9 @@ namespace eCAL
     {
       eCAL::Registration::TLayer udp_tlayer;
       udp_tlayer.type                      = tl_ecal_udp;
-      udp_tlayer.version                   = 1;
+      udp_tlayer.version                   = ecal_transport_layer_version;
       udp_tlayer.enabled                   = m_layers.udp.write_enabled;
-      udp_tlayer.active                 = m_layers.udp.active;
+      udp_tlayer.active                    = m_layers.udp.active;
       udp_tlayer.par_layer.layer_par_udpmc = m_writer_udp->GetConnectionParameter().layer_par_udpmc;
       ecal_reg_sample_topic.tlayer.push_back(udp_tlayer);
     }
@@ -657,9 +656,9 @@ namespace eCAL
     {
       eCAL::Registration::TLayer shm_tlayer;
       shm_tlayer.type                    = tl_ecal_shm;
-      shm_tlayer.version                 = 1;
+      shm_tlayer.version                 = ecal_transport_layer_version;
       shm_tlayer.enabled                 = m_layers.shm.write_enabled;
-      shm_tlayer.active               = m_layers.shm.active;
+      shm_tlayer.active                  = m_layers.shm.active;
       shm_tlayer.par_layer.layer_par_shm = m_writer_shm->GetConnectionParameter().layer_par_shm;
       ecal_reg_sample_topic.tlayer.push_back(shm_tlayer);
     }
@@ -671,9 +670,9 @@ namespace eCAL
     {
       eCAL::Registration::TLayer tcp_tlayer;
       tcp_tlayer.type                    = tl_ecal_tcp;
-      tcp_tlayer.version                 = 1;
+      tcp_tlayer.version                 = ecal_transport_layer_version;
       tcp_tlayer.enabled                 = m_layers.tcp.write_enabled;
-      tcp_tlayer.active               = m_layers.tcp.active;
+      tcp_tlayer.active                  = m_layers.tcp.active;
       tcp_tlayer.par_layer.layer_par_tcp = m_writer_tcp->GetConnectionParameter().layer_par_tcp;
       ecal_reg_sample_topic.tlayer.push_back(tcp_tlayer);
     }