eCAL core: provide TopicInformation (encoding, type, descriptor) inst…

…ead of 2 strings (type, schema). (#1126)

* eCAL core: provide TopicInformation (encoding, type, descriptor) instead of 2 strings (type, schema).
This commit contains various API changes, however made in a semver compliant way.
- Adds various API functions and deprecates old ones
- Adds field to topic.proto file
- For communication compatibility, descriptor information is send out on old and new fields in proto message

Occurrences of deprecated functions fixed in eCAL Code (Samples, Apps, Tests)

.github/workflows/build-ubuntu-20.yml

@@ -100,7 +100,7 @@ jobs:
       shell: bash
 
     - name: Build Release
-      run: cmake --build . --config Release
+      run: cmake --build . --config Release -- -k 0
       working-directory: ${{ runner.workspace }}/_build
 
     # Create Python Wheels

.github/workflows/build-ubuntu-22.yml

@@ -100,7 +100,7 @@ jobs:
       shell: bash
 
     - name: Build Release
-      run: cmake --build . --config Release
+      run: cmake --build . --config Release -- -k 0
       working-directory: ${{ runner.workspace }}/_build
 
     # Create Python Wheels

CMakeLists.txt

@@ -478,6 +478,7 @@ if(BUILD_ECAL_TESTS)
   add_subdirectory(testing/ecal/pubsub_proto_test)
   add_subdirectory(testing/ecal/pubsub_test)
   add_subdirectory(testing/ecal/topic2mcast_test)
+  add_subdirectory(testing/ecal/util_test)
 
   # ------------------------------------------------------
   # test apps

app/mon/mon_cli/src/ecal_mon_cli.cpp

@@ -352,8 +352,9 @@ void ProcProto(const std::string& topic_name, int msg_count)
   std::this_thread::sleep_for(std::chrono::milliseconds(1000));
 
   // get topic type
-  std::string topic_type = eCAL::Util::GetTopicTypeName(topic_name);
-  if(topic_type.empty())
+  eCAL::STopicInformation topic_info;
+  eCAL::Util::GetTopicInformation(topic_name, topic_info);
+  if(topic_info.type.empty())
   {
     std::cout << "could not get type for topic " << topic_name << std::endl;
     return;

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

@@ -80,6 +80,7 @@ TopicWidget::TopicWidget(QWidget *parent)
     (int)TopicTreeModel::Columns::HOST_NAME,
     (int)TopicTreeModel::Columns::PROCESS_NAME,
     (int)TopicTreeModel::Columns::UNIT_NAME,
+    (int)TopicTreeModel::Columns::TOPIC_ENCODING,
     (int)TopicTreeModel::Columns::MESSAGE_TYPE,
     (int)TopicTreeModel::Columns::QOS,
     (int)TopicTreeModel::Columns::TRANSPORT_LAYER,
@@ -94,6 +95,7 @@ TopicWidget::TopicWidget(QWidget *parent)
     (int)TopicTreeModel::Columns::UNIT_NAME,
     (int)TopicTreeModel::Columns::HOST_NAME,
     (int)TopicTreeModel::Columns::PROCESS_NAME,
+    (int)TopicTreeModel::Columns::TOPIC_ENCODING,
     (int)TopicTreeModel::Columns::MESSAGE_TYPE,
     (int)TopicTreeModel::Columns::QOS,
     (int)TopicTreeModel::Columns::TRANSPORT_LAYER,
@@ -119,6 +121,12 @@ TopicWidget::TopicWidget(QWidget *parent)
   topic.name = "Topic";
   preconfigured_group_by_settings.push_back(topic);
 
+  EcalmonTreeWidget::GroupSetting encoding;
+  encoding.group_by_columns = { (int)TopicTreeModel::Columns::TOPIC_ENCODING, (int)TopicTreeModel::Columns::TOPIC_NAME };
+  encoding.auto_expand = -1;
+  encoding.name = "Encoding";
+  preconfigured_group_by_settings.push_back(encoding);
+
   EcalmonTreeWidget::GroupSetting type;
   type.group_by_columns = { (int)TopicTreeModel::Columns::MESSAGE_TYPE, (int)TopicTreeModel::Columns::TOPIC_NAME };
   type.auto_expand = -1;
@@ -142,6 +150,7 @@ TopicWidget::TopicWidget(QWidget *parent)
     (int)TopicTreeModel::Columns::UNIT_NAME,
     (int)TopicTreeModel::Columns::HOST_NAME,
     (int)TopicTreeModel::Columns::PID,
+    (int)TopicTreeModel::Columns::TOPIC_ENCODING,
     (int)TopicTreeModel::Columns::MESSAGE_TYPE,
     (int)TopicTreeModel::Columns::TOPIC_SIZE,
     (int)TopicTreeModel::Columns::MESSAGE_DROPS,
@@ -249,6 +258,7 @@ void TopicWidget::autoSizeColumns()
     (int)TopicTreeModel::Columns::UNIT_NAME,
     (int)TopicTreeModel::Columns::HOST_NAME,
     (int)TopicTreeModel::Columns::PID,
+    (int)TopicTreeModel::Columns::TOPIC_ENCODING,
     (int)TopicTreeModel::Columns::MESSAGE_TYPE,
     (int)TopicTreeModel::Columns::HEARTBEAT,
     (int)TopicTreeModel::Columns::QOS,
@@ -298,10 +308,13 @@ void TopicWidget::openReflectionWindowForSelection()
       }
       else
       {
+        QString topic_encoding = topic_item->data(TopicTreeItem::Columns::TENCODING, (Qt::ItemDataRole)ItemDataRoles::RawDataRole).toString(); //-V1016
         QString topic_type = topic_item->data(TopicTreeItem::Columns::TTYPE, (Qt::ItemDataRole)ItemDataRoles::RawDataRole).toString(); //-V1016
-
+
+        QString combined_topic_encoding_type{ QString::fromStdString(eCAL::Util::CombinedTopicEncodingAndType(topic_encoding.toStdString(), topic_type.toStdString())) };
+
         // Create a new Reflection Window
-        VisualisationWindow* visualisation_window = new VisualisationWindow(topic_name, topic_type);
+        VisualisationWindow* visualisation_window = new VisualisationWindow(topic_name, combined_topic_encoding_type);
         visualisation_window->setAttribute(Qt::WA_DeleteOnClose, true);
         visualisation_window->setParseTimeEnabled(parse_time_);
         visualisation_windows_[topic_name] = visualisation_window;
@@ -331,21 +344,24 @@ void TopicWidget::fillContextMenu(QMenu& menu, const QList<QAbstractTreeItem*>&
 
   if (item)
   {
-    QString topic_name = item->data((int)TopicTreeItem::Columns::TNAME).toString();
-    QString topic_type =  item->data((int)TopicTreeItem::Columns::TTYPE).toString();
+    QString topic_name     = item->data((int)TopicTreeItem::Columns::TNAME).toString();
+    QString topic_encoding = item->data((int)TopicTreeItem::Columns::TENCODING).toString();
+    QString topic_type     = item->data((int)TopicTreeItem::Columns::TTYPE).toString();
+
+    QString combined_topic_encoding_type{ QString::fromStdString(eCAL::Util::CombinedTopicEncodingAndType(topic_encoding.toStdString(), topic_type.toStdString()))};
 
     QAction* reflection_action = new QAction(tr("Inspect topic \"") + topic_name + "\"", &menu);
     connect(reflection_action, &QAction::triggered, this, &TopicWidget::openReflectionWindowForSelection);
     menu.addSeparator();
     menu.addAction(reflection_action);
 
     auto reflection_with_menu = menu.addMenu(tr("Inspect topic \"") + topic_name + "\" with");
-    for (const auto& matching_plugin_data : PluginManager::getInstance()->getMatchingPluginData(topic_name, topic_type))
+    for (const auto& matching_plugin_data : PluginManager::getInstance()->getMatchingPluginData(topic_name, combined_topic_encoding_type))
     {
       auto reflection_with_action = reflection_with_menu->addAction(matching_plugin_data.meta_data.name);
       const auto iid = matching_plugin_data.iid;
-      connect(reflection_with_action, &QAction::triggered, this, [this, iid, topic_name, topic_type]() {
-        emit requestVisualisationDockWidget(topic_name, topic_type, iid);
+      connect(reflection_with_action, &QAction::triggered, this, [this, iid, topic_name, combined_topic_encoding_type]() {
+        emit requestVisualisationDockWidget(topic_name, combined_topic_encoding_type, iid);
         });
     }  
   }

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

@@ -76,10 +76,31 @@ QVariant TopicTreeItem::data(Columns column, Qt::ItemDataRole role) const
     {
       return topic_.direction().c_str();
     }
+    else if (column == Columns::TENCODING)
+    {
+      // When the monitor didn't tell us the topic encoding, we ask eCAL::Util instead
+      // Why this logic only for type, not descriptor? (and thus encoding?)
+      const std::string monitor_topic_encoding = topic_.tinfo().encoding();
+      if (!monitor_topic_encoding.empty())
+      {
+        return monitor_topic_encoding.c_str();
+      }
+      else
+      {
+        const std::string monitor_topic_name = topic_.tname();
+        if (!monitor_topic_name.empty())
+        {
+          eCAL::STopicInformation topic_info;
+          eCAL::Util::GetTopicInformation(monitor_topic_name, topic_info);
+          return topic_info.encoding.c_str();
+        }
+      }
+    }
     else if (column == Columns::TTYPE)
     {
       // When the monitor didn't tell us the topic type, we ask eCAL::Util instead
-      const std::string monitor_topic_type = topic_.ttype();
+      // Why this logic only for type, not descriptor? (and thus encoding?)
+      const std::string monitor_topic_type = topic_.tinfo().type();
       if (!monitor_topic_type.empty())
       {
         return monitor_topic_type.c_str();
@@ -89,14 +110,15 @@ QVariant TopicTreeItem::data(Columns column, Qt::ItemDataRole role) const
         const std::string monitor_topic_name = topic_.tname();
         if (!monitor_topic_name.empty())
         {
-          return eCAL::Util::GetTopicTypeName(monitor_topic_name).c_str();
+          eCAL::STopicInformation topic_info;
+          eCAL::Util::GetTopicInformation(monitor_topic_name, topic_info);
+          return topic_info.type.c_str();
         }
       }
-      return "";
     }
     else if (column == Columns::TDESC)
     {
-      return topic_.tdesc().c_str();
+      return topic_.tinfo().desc().c_str();
     }
     else if (column == Columns::TQOS)
     {
@@ -175,6 +197,7 @@ QVariant TopicTreeItem::data(Columns column, Qt::ItemDataRole role) const
       || (column == Columns::UNAME)
       || (column == Columns::TNAME)
       || (column == Columns::DIRECTION)
+      || (column == Columns::TENCODING)
       || (column == Columns::TTYPE))
     {
       const QString raw_data = data(column, (Qt::ItemDataRole)ItemDataRoles::RawDataRole).toString(); //-V1016
@@ -269,6 +292,7 @@ QVariant TopicTreeItem::data(Columns column, Qt::ItemDataRole role) const
       || (column == Columns::UNAME)
       || (column == Columns::TNAME)
       || (column == Columns::DIRECTION)
+      || (column == Columns::TENCODING)
       || (column == Columns::TTYPE))
     {
       auto raw_data = data(column, (Qt::ItemDataRole)ItemDataRoles::RawDataRole); //-V1016
@@ -332,6 +356,7 @@ QVariant TopicTreeItem::data(Columns column, Qt::ItemDataRole role) const
       || (column == Columns::UNAME)
       || (column == Columns::TNAME)
       || (column == Columns::DIRECTION)
+      || (column == Columns::TENCODING)
       || (column == Columns::TTYPE))
     {
       const QString raw_data = data(column, (Qt::ItemDataRole)ItemDataRoles::RawDataRole).toString(); //-V1016

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

@@ -45,6 +45,7 @@ class TopicTreeItem :
     TID,
     TNAME,
     DIRECTION,
+    TENCODING,
     TTYPE,
     TDESC,
     TQOS,

app/mon/mon_gui/src/widgets/models/topic_tree_model.h

@@ -55,6 +55,7 @@ class TopicTreeModel : public GroupTreeModel
     PROCESS_NAME,
     MESSAGE_TYPE,
     HEARTBEAT,
+    TOPIC_ENCODING,
     TOPIC_DESCRIPTOR,
     QOS,
     TRANSPORT_LAYER,
@@ -95,6 +96,7 @@ class TopicTreeModel : public GroupTreeModel
     { Columns::TOPIC_ID,               "Topic ID" },
     { Columns::TOPIC_NAME,             "Topic" },
     { Columns::DIRECTION,              "Direction" },
+    { Columns::TOPIC_ENCODING,         "Encoding" },
     { Columns::MESSAGE_TYPE,           "Message Type" },
     { Columns::TOPIC_DESCRIPTOR,       "Descriptor" },
     { Columns::QOS,                    "QoS" },
@@ -118,6 +120,7 @@ class TopicTreeModel : public GroupTreeModel
     { Columns::TOPIC_ID,               (int)TopicTreeItem::Columns::TID },
     { Columns::TOPIC_NAME,             (int)TopicTreeItem::Columns::TNAME },
     { Columns::DIRECTION,              (int)TopicTreeItem::Columns::DIRECTION },
+    { Columns::TOPIC_ENCODING,         (int)TopicTreeItem::Columns::TENCODING },
     { Columns::MESSAGE_TYPE,           (int)TopicTreeItem::Columns::TTYPE },
     { Columns::TOPIC_DESCRIPTOR,       (int)TopicTreeItem::Columns::TDESC },
     { Columns::QOS,                    (int)TopicTreeItem::Columns::TQOS },

ecal/core/CMakeLists.txt

@@ -284,6 +284,7 @@ set(ecal_cmn_header_src
     src/ecal_log_impl.h
     src/ecal_registration_provider.h
     src/ecal_registration_receiver.h
+    src/ecal_sample_to_topicinfo.h
     src/ecal_thread.h
     src/ecal_timegate.h
     src/getenvvar.h
@@ -343,6 +344,7 @@ set(ecal_header_cmn
     include/ecal/ecal_util.h
     include/ecal/ecalc.h
     include/ecal/ecalc_types.h
+    include/ecal/types/topic_information.h
 )
 
 set(ecal_header_cimpl

ecal/core/include/ecal/ecal_callback.h

@@ -25,6 +25,7 @@
 #pragma once
 
 #include <ecal/cimpl/ecal_callback_cimpl.h>
+#include <ecal/types/topic_information.h>
 
 #include <functional>
 #include <string>
@@ -66,8 +67,11 @@ namespace eCAL
     long long            time;    //!< publisher event time in µs
     long long            clock;   //!< publisher event clock
     std::string          tid;     //!< topic id of the of the connected subscriber              (for pub_event_update_connection only)
-    std::string          ttype;   //!< topic type information of the connected subscriber       (for pub_event_update_connection only)
-    std::string          tdesc;   //!< topic descriptor information of the connected subscriber (for pub_event_update_connection only)
+    [[deprecated("Use the separate infos encoding and type in member tinfo instead of ttype.")]]
+    std::string          ttype;  //!< topic type information of the connected publisher         (for sub_event_update_connection only)
+    [[deprecated("Use the tinfo.descriptor instead of tdesc.")]]
+    std::string          tdesc;  //!< topic descriptor information of the connected publisher   (for sub_event_update_connection only)
+    STopicInformation    tinfo;   //!< topic information of the connected subscriber            (for pub_event_update_connection only)
   };
 
   /**
@@ -85,8 +89,11 @@ namespace eCAL
     long long             time;   //!< subscriber event time in µs
     long long             clock;  //!< subscriber event clock
     std::string           tid;    //!< topic id of the of the connected publisher              (for sub_event_update_connection only)
+    [[deprecated("Use the separate infos encoding and type in member tinfo instead of ttype.")]]
     std::string           ttype;  //!< topic type information of the connected publisher       (for sub_event_update_connection only)
+    [[deprecated("Use the tinfo.descriptor instead of tdesc.")]]
     std::string           tdesc;  //!< topic descriptor information of the connected publisher (for sub_event_update_connection only)
+    STopicInformation     tinfo;  //!< topic information of the connected subscriber           (for pub_event_update_connection only)
   };
 
   /**

ecal/core/include/ecal/ecal_monitoring_struct.h

@@ -26,6 +26,7 @@
 
 #include <ecal/ecal_os.h>
 #include <ecal/ecal_monitoring_entity.h>
+#include <ecal/types/topic_information.h>
 
 #include <map>
 #include <string>
@@ -64,8 +65,7 @@ namespace eCAL
       std::string                         tid;                  //!< topic id
       std::string                         tname;                //!< topic name
       std::string                         direction;            //!< direction (publisher, subscriber)
-      std::string                         ttype;                //!< topic type (protocol)
-      std::string                         tdesc;                //!< topic description (protocol descriptor)
+      STopicInformation                   tinfo;                //!< topic information (encoding, type, descriptor)
       int                                 tsize;                //!< topic size
 
       bool                                tlayer_ecal_udp_mc;   //!< transport layer udp active