Core: Added new eCAL Service Implementation (#1072)

- Client and server exchange their protocol version via registration layer.
- Server will not start before any client registration is received.
- Server starts with clients protocol version (currently 0 or 1).
- A server can handle multiple clients with different protocol version.
- A client can be connected to multiple server with different protocol versions.
- Protocol Version 1 includes a protocol handshake as first step, so the protocol can be made compatible with future versions
- IPv6 is now supported
- The eCAL API is untouched
- Many tests have been added that test the new Service Library
- The tests testing eCAL itself regarding services have been adapted and activated. They now work.


Co-authored-by: github-actions[bot] <41898282+github-actions[bot]@users.noreply.github.com>
Co-authored-by: Florian Reimold <11774314+FlorianReimold@users.noreply.github.com>

Author: 3 people

.clang-tidy

@@ -25,6 +25,8 @@ Checks: "-*,
   -bugprone-narrowing-conversions,
   
   cppcoreguidelines-*,
+  -cppcoreguidelines-avoid-const-or-ref-data-members,
+  -cppcoreguidelines-avoid-do-while,
   -cppcoreguidelines-avoid-magic-numbers,
   -cppcoreguidelines-macro-usage,
   -cppcoreguidelines-narrowing-conversions,
@@ -33,6 +35,7 @@ Checks: "-*,
   -cppcoreguidelines-pro-bounds-pointer-arithmetic,
   -cppcoreguidelines-pro-type-vararg,
   -cppcoreguidelines-pro-type-reinterpret-cast,
+  -cppcoreguidelines-pro-type-const-cast,
   
   misc-*,
   -misc-non-private-member-variables-in-classes,

CMakeLists.txt

@@ -324,6 +324,7 @@ add_subdirectory(app/app_pb)
 # --------------------------------------------------------
 # ecal core
 # --------------------------------------------------------
+add_subdirectory(ecal/service)
 add_subdirectory(ecal/core)
 
 # --------------------------------------------------------
@@ -469,7 +470,8 @@ if(BUILD_ECAL_TESTS)
   # ------------------------------------------------------
   # test ecal
   # ------------------------------------------------------
-  #add_subdirectory(testing/ecal/clientserver_test)   THIS TEST IS NOT ABLE TO RUN ON GH ACTIONS
+  add_subdirectory(testing/ecal/clientserver_test)   #THIS TEST IS NOT ABLE TO RUN ON GH ACTIONS
+  
   add_subdirectory(testing/ecal/core_test)
   add_subdirectory(testing/ecal/event_test)
   add_subdirectory(testing/ecal/expmap_test)

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

@@ -114,7 +114,7 @@ void ServiceWidget::autoSizeColumns()
   example_service_pb.set_uname("eCALRPCService____");
   example_service_pb.set_pid(999999);
   example_service_pb.set_sname("eCALRPCService____");
-  example_service_pb.set_tcp_port(999999);
+  example_service_pb.set_tcp_port_v1(999999);
 
   eCAL::pb::Method* method = example_service_pb.mutable_methods()->Add();
   method->set_mname("ShutdownProcessName____");

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

@@ -78,7 +78,7 @@ QVariant ServiceTreeItem::data(Columns column, Qt::ItemDataRole role) const
     }
     else if (column == Columns::TCP_PORT)
     {
-      return service_.tcp_port();
+      return service_.tcp_port_v1();
     }
     else if (column == Columns::MNAME)
     {

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

@@ -266,7 +266,7 @@ class MonitorModel
       service.process_name = std::move(*s.mutable_pname());
       service.unit_name = std::move(*s.mutable_uname());
       service.registration_clock = s.rclock();
-      service.tcp_port = s.tcp_port();
+      service.tcp_port = s.tcp_port_v1();
       for(auto &m: *s.mutable_methods())
       {
         auto &method = service.methods.emplace_back();

ecal/core/CMakeLists.txt

@@ -57,7 +57,6 @@ if(UNIX)
   endif()
 endif()
 
-
 if(ECAL_NPCAP_SUPPORT)
 set(ecal_io_cpp_src_npcap 
    src/io/udp_receiver_npcap.cpp
@@ -131,19 +130,23 @@ set(ecal_readwrite_cpp_src
 )
 
 set(ecal_readwrite_shm_cpp_src
-  src/readwrite/ecal_reader_shm.cpp
-  src/readwrite/ecal_writer_shm.cpp
+    src/readwrite/ecal_reader_shm.cpp
+    src/readwrite/ecal_writer_shm.cpp
 )
 
 set(ecal_service_cpp_src
     src/service/ecal_clientgate.cpp
+    src/service/ecal_clientgate.h
+    src/service/ecal_servicegate.cpp
+    src/service/ecal_servicegate.h
     src/service/ecal_service_client.cpp
     src/service/ecal_service_client_impl.cpp
+    src/service/ecal_service_client_impl.h
     src/service/ecal_service_server.cpp
     src/service/ecal_service_server_impl.cpp
-    src/service/ecal_tcpclient.cpp
-    src/service/ecal_servicegate.cpp
-    src/service/ecal_tcpserver.cpp
+    src/service/ecal_service_server_impl.h
+    src/service/ecal_service_singleton_manager.cpp
+    src/service/ecal_service_singleton_manager.h
 )
 
 set(ecal_cmn_cpp_src
@@ -153,7 +156,7 @@ set(ecal_cmn_cpp_src
     src/ecal_config.cpp
     src/ecal_config_reader.cpp
     src/ecal_descgate.cpp
-    src/ecal_event.cpp
+    src/ecal_event.cpp 
     src/ecal_global_accessors.cpp
     src/ecal_globals.cpp
     src/ecal_log.cpp
@@ -261,16 +264,6 @@ set(ecal_readwrite_shm_header_src
     src/readwrite/ecal_writer_shm.h
 )
 
-set(ecal_service_header_src
-    src/service/asio_server.h
-    src/service/ecal_clientgate.h
-    src/service/ecal_service_client_impl.h
-    src/service/ecal_service_server_impl.h
-    src/service/ecal_servicegate.h
-    src/service/ecal_tcpclient.h
-    src/service/ecal_tcpserver.h
-)
-
 set(ecal_cmn_header_src
     src/convert_utf.h
     src/ecal_buffer_payload_writer.h
@@ -422,7 +415,6 @@ ecal_add_ecal_shared_library(${PROJECT_NAME}
     ${ecal_pubsub_header_src}
     ${ecal_readwrite_header_src}
     ${ecal_readwrite_shm_header_src}
-    ${ecal_service_header_src}
 
     ${ecal_header_base}
     ${ecal_header_cimpl}
@@ -498,6 +490,7 @@ target_link_libraries(${PROJECT_NAME}
     Threads::Threads
     eCAL::ecal-utils
     tcp_pubsub::tcp_pubsub
+    ecal_service
 )
 
 set_property(TARGET ${PROJECT_NAME}   PROPERTY FOLDER ecal/core)
@@ -545,7 +538,6 @@ if(NOT ${CMAKE_VERSION} VERSION_LESS "3.8.0")
     ${ecal_pubsub_header_src}
     ${ecal_readwrite_header_src}
     ${ecal_readwrite_shm_header_src}
-    ${ecal_service_header_src}
 
     ${ecal_header_cmn}
     ${ecal_header_cimpl}