mon_cli fixed

mon_tui fixed
ecal_clang fixed
samples (massive_pub_sub, monitoring_get_topics, monitoring_get_services, proto_dyn_json_rec, proto_dyn_rec, ping_client) fixed
descgate test fixed
ecal/cimpl/ecal_registration_cimpl.h Registration C API needs to be discussed (remove it or reimplement it id based instead name based)

app/mon/mon_cli/src/ecal_mon_cli.cpp

@@ -351,20 +351,11 @@ void ProcProto(const std::string& topic_name, int msg_count)
   // sleep 1000 ms
   std::this_thread::sleep_for(std::chrono::milliseconds(1000));
 
-  // get topic type
-  eCAL::SDataTypeInformation 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;
-    return;
-  }
-
   // create dynamic subscribers for receiving and decoding messages and assign callback
   eCAL::protobuf::CDynamicSubscriber sub(topic_name);
   std::atomic<int> cnt(msg_count);
   auto msg_cb = [&cnt](const std::shared_ptr<google::protobuf::Message>& msg_) { if (cnt != 0) { std::cout << msg_->DebugString() << std::endl; if (cnt > 0) cnt--; } };
-  sub.AddReceiveCallback(std::bind(msg_cb, std::placeholders::_2));
+  sub.AddReceiveCallback(std::bind(msg_cb, std::placeholders::_3));
 
   // enter main loop
   while(eCAL::Ok() && (cnt != 0))

app/mon/mon_plugins/protobuf_reflection/src/plugin_widget.cpp

@@ -59,7 +59,7 @@ PluginWidget::PluginWidget(const QString& topic_name, const QString& topic_type,
   ui_.publish_timestamp_warning_label->setVisible(false);
 
   // Add eCAL Callbacks
-  subscriber_.AddReceiveCallback(std::bind(&PluginWidget::onProtoMessageCallback, this, std::placeholders::_2, std::placeholders::_3));
+  subscriber_.AddReceiveCallback(std::bind(&PluginWidget::onProtoMessageCallback, this, std::placeholders::_3, std::placeholders::_4));
   subscriber_.AddErrorCallback(std::bind(&PluginWidget::onProtoErrorCallback, this, std::placeholders::_1));
 
   // Button connections
@@ -319,7 +319,7 @@ void PluginWidget::onUpdate()
 void PluginWidget::onResume()
 {
   // Add eCAL Callbacks
-  subscriber_.AddReceiveCallback(std::bind(&PluginWidget::onProtoMessageCallback, this, std::placeholders::_2, std::placeholders::_3));
+  subscriber_.AddReceiveCallback(std::bind(&PluginWidget::onProtoMessageCallback, this, std::placeholders::_3, std::placeholders::_4));
   subscriber_.AddErrorCallback(std::bind(&PluginWidget::onProtoErrorCallback, this, std::placeholders::_1));
 }
 

app/mon/mon_plugins/signals_plotting/src/plugin_widget.cpp

@@ -73,7 +73,7 @@ PluginWidget::PluginWidget(const QString& topic_name, const QString& topic_type,
   ui_.publish_timestamp_warning_label->setVisible(false);
 
   // Add eCAL Callbacks
-  subscriber_.AddReceiveCallback(std::bind(&PluginWidget::onProtoMessageCallback, this, std::placeholders::_2, std::placeholders::_3));
+  subscriber_.AddReceiveCallback(std::bind(&PluginWidget::onProtoMessageCallback, this, std::placeholders::_3, std::placeholders::_4));
   subscriber_.AddErrorCallback(std::bind(&PluginWidget::onProtoErrorCallback, this, std::placeholders::_1));
 
   // Button connections

app/mon/mon_tui/src/tui/viewmodel/message_visualization/proto.hpp

@@ -63,7 +63,7 @@ class ProtoMessageVisualizationViewModel : public MessageVisualizationViewModel
     : subscriber{topic}
   {
     using namespace std::placeholders;
-    subscriber.AddReceiveCallback(std::bind(&ProtoMessageVisualizationViewModel::OnMessage, this, _2, _3));
+    subscriber.AddReceiveCallback(std::bind(&ProtoMessageVisualizationViewModel::OnMessage, this, _3, _4));
   }
 
   ProtectedMessage message() const

ecal/core/include/ecal/cimpl/ecal_registration_cimpl.h

@@ -28,6 +28,8 @@
 #include <ecal/ecal_os.h>
 #include <ecal/ecalc_types.h>
 
+#if 0 // TODO: We have to rethink this API.
+
 #ifdef __cplusplus
 extern "C"
 {
@@ -174,3 +176,5 @@ extern "C"
 #endif /*__cplusplus*/
 
 #endif /*ecal_registration_cimpl_h_included*/
+
+#endif

ecal/core/src/cimpl/ecal_registration_cimpl.cpp

@@ -22,6 +22,8 @@
  * @brief  eCAL registration c interface
 **/
 
+#if 0 // TODO: We have to rethink this API.
+
 #include <ecal/ecal.h>
 #include <ecal/cimpl/ecal_registration_cimpl.h>
 
@@ -177,3 +179,5 @@ extern "C"
     return 0;
   }
 }
+
+#endif

ecal/samples/cpp/benchmarks/massive_pub_sub/src/massive_pub_sub.cpp

@@ -187,7 +187,7 @@ int main(int argc, char** argv)
     num_pub = pub_ids.size();
     for (const auto& id : pub_ids)
     {
-      eCAL::Registration::SQualityTopicInfo topic_info;
+      eCAL::SDataTypeInformation topic_info;
       eCAL::Registration::GetPublisherInfo(id, topic_info);
     }
 

ecal/samples/cpp/monitoring/monitoring_get_services/src/monitoring_get_services.cpp

@@ -38,15 +38,17 @@ int main(int argc, char **argv)
   {
     // GetServices
     {
+      std::set<eCAL::Registration::SServiceMethodId> service_method_id_set;
+
       std::map<eCAL::Registration::SServiceMethod, eCAL::SServiceMethodInformation> service_info_map;
 
       start_time = std::chrono::steady_clock::now();
       for (run = 0; run < runs; ++run)
       {
-        eCAL::Registration::GetServices(service_info_map);
+        service_method_id_set = eCAL::Registration::GetServiceIDs();
       }
 
-      auto num_services = service_info_map.size();
+      auto num_services = service_method_id_set.size();
       auto diff_time = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::steady_clock::now() - start_time);
       std::cout << "GetServices      : " << static_cast<double>(diff_time.count()) / runs << " ms" << " (" << num_services << " services)" << std::endl;
       std::cout << std::endl;

ecal/samples/cpp/monitoring/monitoring_get_topics/src/monitoring_get_topics.cpp

@@ -38,15 +38,17 @@ int main(int argc, char **argv)
   {
     // GetTopics
     {
-      std::map<std::string, eCAL::SDataTypeInformation> topic_info_map;
+      std::set<eCAL::Registration::STopicId> topic_id_pub_set;
+      std::set<eCAL::Registration::STopicId> topic_id_sub_set;
 
       start_time = std::chrono::steady_clock::now();
       for (run = 0; run < runs; ++run)
       {
-        eCAL::Registration::GetTopics(topic_info_map);
+        topic_id_pub_set = eCAL::Registration::GetPublisherIDs();
+        topic_id_sub_set = eCAL::Registration::GetSubscriberIDs();
       }
 
-      auto num_topics = topic_info_map.size();
+      auto num_topics = topic_id_pub_set.size() + topic_id_sub_set.size();
       auto diff_time = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::steady_clock::now() - start_time);
       std::cout << "GetTopics      : " << static_cast<double>(diff_time.count()) / runs << " ms" << " (" << num_topics << " topics)" << std::endl;
     }

ecal/samples/cpp/pubsub/protobuf/proto_dyn_json_rec/src/proto_dyn_json_rec.cpp

@@ -25,9 +25,9 @@
 
 const std::string MESSAGE_NAME("person");
 
-void ProtoMsgCallback(const char* topic_name_, const std::string& msg_, long long /*time_*/, long long /*clock_*/, long long /*id_*/)
+void ProtoMsgCallback(const eCAL::Registration::STopicId& topic_id_, const std::string& msg_)
 {
-  std::cout << topic_name_ << " : " << msg_ << std::endl;
+  std::cout << topic_id_.topic_name << " : " << msg_ << std::endl;
   std::cout << std::endl;
 }
 
@@ -38,7 +38,7 @@ int main(int argc, char **argv)
 
   // create dynamic subscribers for receiving and decoding messages
   eCAL::protobuf::CDynamicJSONSubscriber sub(MESSAGE_NAME);
-  sub.AddReceiveCallback(ProtoMsgCallback);
+  sub.AddReceiveCallback(std::bind(ProtoMsgCallback, std::placeholders::_1, std::placeholders::_3));
 
   // enter main loop
   while(eCAL::Ok())

ecal/samples/cpp/pubsub/protobuf/proto_dyn_rec/src/proto_dyn_rec.cpp

@@ -270,9 +270,9 @@ void ProcProtoMsg(const google::protobuf::Message& msg_, const std::string& pref
   }
 }
 
-void ProtoMsgCallback(const char* topic_name_, const std::shared_ptr<google::protobuf::Message>& msg_)
+void ProtoMsgCallback(const eCAL::Registration::STopicId& topic_id_, const std::shared_ptr<google::protobuf::Message>& msg_)
 {
-  ProcProtoMsg(*msg_, topic_name_);
+  ProcProtoMsg(*msg_, topic_id_.topic_name);
   std::cout << std::endl;
 }
 
@@ -283,7 +283,7 @@ int main(int argc, char **argv)
 
   // create dynamic subscribers for receiving and decoding messages
   eCAL::protobuf::CDynamicSubscriber sub(MESSAGE_NAME);
-  sub.AddReceiveCallback(std::bind(ProtoMsgCallback, std::placeholders::_1, std::placeholders::_2));
+  sub.AddReceiveCallback(std::bind(ProtoMsgCallback, std::placeholders::_1, std::placeholders::_3));
 
   // enter main loop
   while(eCAL::Ok())

ecal/samples/cpp/services/ping_client_dyn/src/ping_client_dyn.cpp

@@ -48,18 +48,28 @@ int main(int argc, char **argv)
 
   // get service method type names
   std::string req_type;
+  std::string req_desc;
   std::string resp_type;
-  if (!eCAL::Registration::GetServiceTypeNames(service_name, method_name, req_type, resp_type))
+  std::string resp_desc;
+  auto service_ids = eCAL::Registration::GetServiceIDs();
+  bool service_info_found(false);
+  for (const auto& service_id : service_ids)
   {
-    throw std::runtime_error("Could not get service type names !");
+    if ((service_id.service_name == service_name) && (service_id.method_name == method_name))
+    {
+      eCAL::SServiceMethodInformation service_method_info;
+      eCAL::Registration::GetServiceInfo(service_id, service_method_info);
+      req_type  = service_method_info.request_type.name;
+      req_desc  = service_method_info.request_type.descriptor;
+      resp_type = service_method_info.response_type.name;
+      resp_desc = service_method_info.response_type.descriptor;
+      service_info_found = true;
+      break;
+    }
   }
-
-  // get service method type descriptions
-  std::string req_desc;
-  std::string resp_desc;
-  if (!eCAL::Registration::GetServiceDescription(service_name, method_name, req_desc, resp_desc))
+  if (!service_info_found)
   {
-    throw std::runtime_error("Could not get service type descriptions !");
+    throw std::runtime_error("Could not get service type names and service type descriptions!");
   }
 
   // create dynamic protobuf message decoder to create request and response message objects

ecal/tests/cpp/descgate_test/src/descgate_getentities.cpp

@@ -146,15 +146,15 @@ TEST(core_cpp_descgate, PublisherQualities)
   {
     for (const auto& id : id_set)
     {
-      eCAL::Registration::SQualityTopicInfo quality_info;
-      bool found = desc_gate.GetPublisherInfo(id, quality_info);
+      eCAL::SDataTypeInformation topic_info;
+      bool found = desc_gate.GetPublisherInfo(id, topic_info);
       EXPECT_TRUE(found);
       if (found)
       {
         std::string tname = id.topic_name;
-        EXPECT_EQ(tname + "-tdatatype.name",       quality_info.info.name);
-        EXPECT_EQ(tname + "-tdatatype.encoding",   quality_info.info.encoding);
-        EXPECT_EQ(tname + "-tdatatype.descriptor", quality_info.info.descriptor);
+        EXPECT_EQ(tname + "-tdatatype.name",       topic_info.name);
+        EXPECT_EQ(tname + "-tdatatype.encoding",   topic_info.encoding);
+        EXPECT_EQ(tname + "-tdatatype.descriptor", topic_info.descriptor);
       }
     }
   }
@@ -229,15 +229,15 @@ TEST(core_cpp_descgate, SubscriberQualities)
   {
     for (const auto& id : id_set)
     {
-      eCAL::Registration::SQualityTopicInfo quality_info;
-      bool found = desc_gate.GetSubscriberInfo(id, quality_info);
+      eCAL::SDataTypeInformation topic_info;
+      bool found = desc_gate.GetSubscriberInfo(id, topic_info);
       EXPECT_TRUE(found);
       if (found)
       {
         std::string tname = id.topic_name;
-        EXPECT_EQ(tname + "-tdatatype.name",       quality_info.info.name);
-        EXPECT_EQ(tname + "-tdatatype.encoding",   quality_info.info.encoding);
-        EXPECT_EQ(tname + "-tdatatype.descriptor", quality_info.info.descriptor);
+        EXPECT_EQ(tname + "-tdatatype.name",       topic_info.name);
+        EXPECT_EQ(tname + "-tdatatype.encoding",   topic_info.encoding);
+        EXPECT_EQ(tname + "-tdatatype.descriptor", topic_info.descriptor);
       }
     }
   }

lang/python/core/src/ecal_clang.cpp

@@ -30,14 +30,39 @@
 #include <vector>
 #include <functional>
 
-static char* str_malloc(const std::string& buf_s_)
+namespace
 {
-  void* cbuf = malloc(buf_s_.size());
-  if(cbuf != nullptr)
+  char* str_malloc(const std::string& buf_s_)
   {
-    memcpy(cbuf, buf_s_.data(), buf_s_.size());
+    void* cbuf = malloc(buf_s_.size());
+    if (cbuf != nullptr)
+    {
+      memcpy(cbuf, buf_s_.data(), buf_s_.size());
+    }
+    return(static_cast<char*>(cbuf));
+  }
+
+  bool GetTopicDataTypeInformation(const char* topic_name_, eCAL::SDataTypeInformation& topic_info_)
+  {
+    // try to find topic name in publisher set
+    for (const auto& pub_id : eCAL::Registration::GetPublisherIDs())
+    {
+      if (pub_id.topic_name == topic_name_)
+      {
+        return eCAL::Registration::GetPublisherInfo(pub_id, topic_info_);
+      }
+    }
+    // try to find topic name in subscriber set
+    const auto& sub_ids = eCAL::Registration::GetSubscriberIDs();
+    for (const auto& sub_id : sub_ids)
+    {
+      if (sub_id.topic_name == topic_name_)
+      {
+        return eCAL::Registration::GetSubscriberInfo(sub_id, topic_info_);
+      }
+    }
+    return false;
   }
-  return(static_cast<char*>(cbuf));
 }
 
 /****************************************/
@@ -176,7 +201,8 @@ void ecal_enable_loopback(const int state_)
 bool ecal_get_type_name(const char* topic_name_, const char** topic_type_, int* topic_type_len_)
 {
   eCAL::SDataTypeInformation topic_info;
-  bool ret = eCAL::Registration::GetTopicDataTypeInformation(topic_name_, topic_info);
+  // get the first matching topic type information for the given topic name found in either the publisher or subscriber id set !
+  bool ret = GetTopicDataTypeInformation(topic_name_, topic_info);
   if(ret)
   {
     std::string topic_type_s = topic_info.name;
@@ -204,7 +230,8 @@ bool ecal_get_type_name(const char* topic_name_, const char** topic_type_, int*
 bool ecal_get_type_encoding(const char* topic_name_, const char** topic_encoding_, int* topic_encoding_len_)
 {
   eCAL::SDataTypeInformation topic_info;
-  bool ret = eCAL::Registration::GetTopicDataTypeInformation(topic_name_, topic_info);
+  // get the first matching topic type information for the given topic name found in either the publisher or subscriber id set !
+  bool ret = GetTopicDataTypeInformation(topic_name_, topic_info);
   if (ret)
   {
     std::string topic_encoding_s = topic_info.encoding;
@@ -232,7 +259,8 @@ bool ecal_get_type_encoding(const char* topic_name_, const char** topic_encoding
 bool ecal_get_description(const char* topic_name_, const char** topic_desc_, int* topic_desc_len_)
 {
   eCAL::SDataTypeInformation topic_info;
-  bool ret = eCAL::Registration::GetTopicDataTypeInformation(topic_name_, topic_info);
+  // get the first matching topic type information for the given topic name found in either the publisher or subscriber id set !
+  bool ret = GetTopicDataTypeInformation(topic_name_, topic_info);
   if(ret)
   {
     std::string topic_desc_s = topic_info.descriptor;