first draft new publisher config API

ecal/core/include/ecal/cimpl/ecal_publisher_cimpl.h

@@ -89,26 +89,6 @@ extern "C"
   **/
   ECALC_API int eCAL_Pub_ClearAttribute(ECAL_HANDLE handle_, const char* attr_name_, int attr_name_len_);
 
-  /**
-   * @brief Share topic type.
-   *
-   * @param handle_ Publisher handle. 
-   * @param state_  Set type share mode (none zero == share type).
-   *
-   * @return  None zero if succeeded.
-  **/
-  ECALC_API int eCAL_Pub_ShareType(ECAL_HANDLE handle_, int state_);
-
-  /**
-   * @brief Share topic description.
-   *
-   * @param handle_ Publisher handle. 
-   * @param state_  Set description share mode (none zero == share description).
-   *
-   * @return  None zero if succeeded.
-  **/
-  ECALC_API int eCAL_Pub_ShareDescription(ECAL_HANDLE handle_, int state_);
-
   /**
    * @brief Set the specific topic id.
    *

ecal/core/include/ecal/ecal_publisher.h

@@ -29,6 +29,7 @@
 #include <ecal/ecal_deprecate.h>
 #include <ecal/ecal_os.h>
 #include <ecal/ecal_payload_writer.h>
+#include <ecal/ecal_tlayer.h>
 #include <ecal/ecal_types.h>
 
 #include <chrono>
@@ -70,7 +71,38 @@ namespace eCAL
   {
   public:
 
-    ECAL_API static constexpr long long DEFAULT_TIME_ARGUMENT = -1;  /*!< Use DEFAULT_TIME_ARGUMENT in the `Send()` function to let eCAL determine the send timestamp */
+    ECAL_API static constexpr long long DEFAULT_TIME_ARGUMENT = -1;   /*!< Use DEFAULT_TIME_ARGUMENT in the `Send()` function to let eCAL determine the send timestamp */
+
+    struct ECAL_API SHMConfig
+    {
+      TLayer::eSendMode  send_mode              = TLayer::smode_auto; //!<  shm layer send mode (default auto)
+      bool               zero_copy_mode         = false;              //!<  enable zero copy shared memory transport mode
+      long long          acknowledge_timeout_ms = 0;                  /*!<  force connected subscribers to send acknowledge event after processing the message
+                                                                              the publisher send call is blocked on this event with this timeout (0 == no handshake) */
+      long               buffer_count           = 1;                  //!<  maximum number of used buffers (needs to be greater than 1, default = 1)
+    };
+
+    struct ECAL_API UDPConfig
+    {
+      TLayer::eSendMode  send_mode              = TLayer::smode_auto; //!<  udp layer send mode (default auto)
+    };
+
+    struct ECAL_API TCPConfig
+    {
+      TLayer::eSendMode  send_mode              = TLayer::smode_off;  //!<  tcp layer send mode (default off)
+    };
+
+    struct ECAL_API Config
+    {
+      Config();
+
+      SHMConfig shm;
+      UDPConfig udp;
+      TCPConfig tcp;
+
+      bool share_topic_type        = true;
+      bool share_topic_description = true;
+    };
 
     /**
      * @brief Constructor. 
@@ -82,15 +114,17 @@ namespace eCAL
      *
      * @param topic_name_   Unique topic name.
      * @param topic_info_   Topic information (encoding, type, descriptor)
+     * @param config_       Optional configuration parameters.
     **/
-    ECAL_API CPublisher(const std::string& topic_name_, const SDataTypeInformation& topic_info_);
+    ECAL_API CPublisher(const std::string& topic_name_, const SDataTypeInformation& topic_info_, const Config& config_ = {});
 
     /**
      * @brief Constructor.
      *
      * @param topic_name_   Unique topic name.
+     * @param config_       Optional configuration parameters.
     **/
-    ECAL_API explicit CPublisher(const std::string& topic_name_);
+    ECAL_API explicit CPublisher(const std::string& topic_name_, const Config& config_ = {});
 
     /**
      * @brief Destructor. 
@@ -122,10 +156,11 @@ namespace eCAL
      *
      * @param topic_name_   Unique topic name.
      * @param topic_info_   Topic information (encoding, type, descriptor)
+     * @param config_       Optional configuration parameters.
      *
      * @return  True if it succeeds, false if it fails.
     **/
-    ECAL_API bool Create(const std::string& topic_name_, const SDataTypeInformation& topic_info_);
+    ECAL_API bool Create(const std::string& topic_name_, const SDataTypeInformation& topic_info_, const Config& config_ = {});
 
     /**
      * @brief Creates this object.
@@ -172,24 +207,6 @@ namespace eCAL
     **/
     ECAL_API bool ClearAttribute(const std::string& attr_name_);
 
-    /**
-     * @brief Share topic type.
-     *
-     * @param state_  Set type share mode (true == share type).
-     *
-     * @return  True if it succeeds, false if it fails.
-    **/
-    ECAL_API bool ShareType(bool state_ = true);
-
-    /**
-     * @brief Share topic description.
-     *
-     * @param state_  Set description share mode (true == share description).
-     *
-     * @return  True if it succeeds, false if it fails.
-    **/
-    ECAL_API bool ShareDescription(bool state_ = true);
-
     /**
      * @brief Set the specific topic id.
      *

ecal/core/include/ecal/ecal_tlayer.h

@@ -53,6 +53,7 @@ namespace eCAL
       smode_auto
     };
 
+    // TODO: Do weed need this ?
     /**
      * @brief eCAL transport layer state struct.
     **/

ecal/core/include/ecal/msg/capnproto/publisher.h

@@ -99,9 +99,10 @@ namespace eCAL
       * @brief  Constructor.
       *
       * @param topic_name_  Unique topic name.
+      * @param config_      Optional configuration parameters.
       **/
-      CPublisher(const std::string& topic_name_)
-        : eCAL::CPublisher(topic_name_, GetDataTypeInformation())
+      CPublisher(const std::string& topic_name_, const eCAL::CPublisher::Config& config_ = {})
+        : eCAL::CPublisher(topic_name_, GetDataTypeInformation(), config_)
         , builder(std::make_unique<capnp::MallocMessageBuilder>())
         , root_builder(builder->initRoot<message_type>())
       {
@@ -145,12 +146,13 @@ namespace eCAL
       * @brief  Creates this object.
       *
       * @param topic_name_  Unique topic name.
+      * @param config_      Optional configuration parameters.
       *
       * @return  True if it succeeds, false if it fails.
       **/
-      bool Create(const std::string& topic_name_)
+      bool Create(const std::string& topic_name_, const eCAL::CPublisher::Config& config_ = {})
       {
-        return(eCAL::CPublisher::Create(topic_name_, GetDataTypeInformation()));
+        return(eCAL::CPublisher::Create(topic_name_, GetDataTypeInformation(), config_));
       }
 
       typename message_type::Builder GetBuilder()

ecal/core/include/ecal/msg/flatbuffers/publisher.h

@@ -51,8 +51,9 @@ namespace eCAL
        * @brief  Constructor.
        *
        * @param topic_name_  Unique topic name.
+       * @param config_      Optional configuration parameters.
       **/
-      CPublisher(const std::string& topic_name_) : CMsgPublisher<T>(topic_name_, GetDataTypeInformation())
+      CPublisher(const std::string& topic_name_, const Config& config_ = {}) : CMsgPublisher<T>(topic_name_, GetDataTypeInformation(), config_)
       {
       }
 
@@ -80,12 +81,13 @@ namespace eCAL
        * @brief  Creates this object.
        *
        * @param topic_name_  Unique topic name.
+       * @param config_      Optional configuration parameters.
        *
        * @return  True if it succeeds, false if it fails.
       **/
-      bool Create(const std::string& topic_name_)
+      bool Create(const std::string& topic_name_, const Config& config_ = {})
       {
-        return(CMsgPublisher<T>::Create(topic_name_, GetDataTypeInformation()));
+        return(CMsgPublisher<T>::Create(topic_name_, GetDataTypeInformation(), config_));
       }
 
     private:

ecal/core/include/ecal/msg/messagepack/publisher.h

@@ -54,8 +54,9 @@ namespace eCAL
        * @brief  Constructor.
        *
        * @param topic_name_  Unique topic name.
+       * @param config_      Optional configuration parameters.
       **/
-      CPublisher(const std::string& topic_name_) : CMsgPublisher<T>(topic_name_, GetDataTypeInformation())
+      CPublisher(const std::string& topic_name_, const Config& config_ = {}) : CMsgPublisher<T>(topic_name_, GetDataTypeInformation(), config_)
       {
       }
 
@@ -83,12 +84,13 @@ namespace eCAL
        * @brief  Creates this object.
        *
        * @param topic_name_  Unique topic name.
+       * @param config_      Optional configuration parameters.
        *
        * @return  True if it succeeds, false if it fails.
       **/
-      bool Create(const std::string& topic_name_)
+      bool Create(const std::string& topic_name_, const Config& config_ = {})
       {
-        return(CMsgPublisher<T>::Create(topic_name_, GetDataTypeInformation()));
+        return(CMsgPublisher<T>::Create(topic_name_, GetDataTypeInformation(), config_));
       }
 
     private:

ecal/core/include/ecal/msg/protobuf/publisher.h

@@ -106,7 +106,7 @@ namespace eCAL
       // where the vtable is not created yet, or it's destructed.
       // Probably we can handle the Message publishers differently. One message publisher class and then one class for payloads and getting type
       // descriptor information.
-      explicit CPublisher(const std::string& topic_name_) : eCAL::CPublisher(topic_name_, CPublisher::GetDataTypeInformation())
+      explicit CPublisher(const std::string& topic_name_, const Config& config_ = {}) : eCAL::CPublisher(topic_name_, CPublisher::GetDataTypeInformation(), config_)
       {
       }
 
@@ -139,12 +139,13 @@ namespace eCAL
        * @brief  Creates this object.
        *
        * @param topic_name_  Unique topic name.
+       * @param config_      Optional configuration parameters.
        *
        * @return  True if it succeeds, false if it fails.
       **/
-      bool Create(const std::string& topic_name_)
+      bool Create(const std::string& topic_name_, const Config& config_ = {})
       {
-        return(eCAL::CPublisher::Create(topic_name_, GetDataTypeInformation()));
+        return(eCAL::CPublisher::Create(topic_name_, GetDataTypeInformation(), config_));
       }
 
       /**

ecal/core/include/ecal/msg/publisher.h

@@ -61,8 +61,9 @@ namespace eCAL
      *
      * @param topic_name_  Unique topic name.
      * @param topic_info_  Struct that contains information of the datatype (name, encoding, description) of the topic.
+     * @param config_      Optional configuration parameters.
     **/
-    CMsgPublisher(const std::string& topic_name_, const struct SDataTypeInformation& topic_info_) : CPublisher(topic_name_, topic_info_)
+    CMsgPublisher(const std::string& topic_name_, const struct SDataTypeInformation& topic_info_, const Config& config_ = {}) : CPublisher(topic_name_, topic_info_, config_)
     {
     }
 
@@ -71,8 +72,9 @@ namespace eCAL
      *         If no datatype information about the topic is available, this constructor can be used.
      *
      * @param topic_name_  Unique topic name.
+     * @param config_      Optional configuration parameters.
     **/
-    explicit CMsgPublisher(const std::string& topic_name_) : CMsgPublisher(topic_name_, GetDataTypeInformation())
+    explicit CMsgPublisher(const std::string& topic_name_, const Config& config_ = {}) : CMsgPublisher(topic_name_, GetDataTypeInformation(), config_)
     {
     }
 
@@ -103,12 +105,13 @@ namespace eCAL
      *
      * @param topic_name_   Unique topic name.
      * @param topic_info_   Associated datatype description.
+     * @param config_       Optional configuration parameters.
      *
      * @return  True if it succeeds, false if it fails.
     **/
-    bool Create(const std::string& topic_name_, const struct SDataTypeInformation& topic_info_)
+    bool Create(const std::string& topic_name_, const struct SDataTypeInformation& topic_info_, const Config& config_ = {})
     {
-      return(CPublisher::Create(topic_name_, topic_info_));
+      return(CPublisher::Create(topic_name_, topic_info_, config_));
     }
 
     /**

ecal/core/include/ecal/msg/string/publisher.h

@@ -60,7 +60,7 @@ namespace eCAL
 
       // call the function via its class because it's a virtual function that is called in constructor/destructor,-
       // where the vtable is not created yet, or it's destructed.
-      explicit CPublisher(const std::string& topic_name_) : CMsgPublisher<T>(topic_name_, GetDataTypeInformation())
+      explicit CPublisher(const std::string& topic_name_, const Config& config_ = {}) : CMsgPublisher<T>(topic_name_, GetDataTypeInformation(), config_)
       {
       }
 
@@ -88,12 +88,13 @@ namespace eCAL
        * @brief  Creates this object.
        *
        * @param topic_name_  Unique topic name.
+       * @param config_      Optional configuration parameters.
        *
        * @return  True if it succeeds, false if it fails.
       **/
-      bool Create(const std::string& topic_name_)
+      bool Create(const std::string& topic_name_, const Config& config_ = {})
       {
-        return(CMsgPublisher<T>::Create(topic_name_, GetDataTypeInformation()));
+        return(CMsgPublisher<T>::Create(topic_name_, GetDataTypeInformation(), config_));
       }
 
     private:

ecal/core/src/cimpl/ecal_publisher_cimpl.cpp

@@ -89,22 +89,6 @@ extern "C"
     return(0);
   }
 
-  ECALC_API int eCAL_Pub_ShareType(ECAL_HANDLE handle_, int state_)
-  {
-    if (handle_ == nullptr) return(0);
-    auto* pub = static_cast<eCAL::CPublisher*>(handle_);
-    pub->ShareType(state_ != 0);
-    return(1);
-  }
-
-  ECALC_API int eCAL_Pub_ShareDescription(ECAL_HANDLE handle_, int state_)
-  {
-    if (handle_ == nullptr) return(0);
-    auto* pub = static_cast<eCAL::CPublisher*>(handle_);
-    pub->ShareDescription(state_ != 0);
-    return(1);
-  }
-
   ECALC_API int eCAL_Pub_SetID(ECAL_HANDLE handle_, long long id_)
   {
     if (handle_ == nullptr) return(0);

ecal/core/src/pubsub/ecal_pubgate.cpp

@@ -60,10 +60,7 @@ namespace eCAL
 
     // destroy all remaining publisher
     const std::unique_lock<std::shared_timed_mutex> lock(m_topic_name_datawriter_sync);
-    for (auto iter = m_topic_name_datawriter_map.begin(); iter != m_topic_name_datawriter_map.end(); ++iter)
-    {
-      iter->second->Destroy();
-    }
+    m_topic_name_datawriter_map.clear();
 
     m_created = false;
   }