Go-eCAL

Go bindings and CLI tools for eCAL 6 (currently unreleased). Inspired from Blutkoete/golang-ecal.

Usage

# Go binding demo
go run .

# Go version of eCAL monitor
go run ./cmd/monitor

Features

• eCAL 6 compatible (unreleased)
• Pure cgo; no SWIG dependency
• Custom C interface implementation
• Direct deserialization from subscriber buffer to Go types
• Rewrite of eCAL monitor using bubbletea

Provides Go interfaces for:

• Configuration (partial, expanded as required)
• Publisher & Subscriber
• Message Types: Custom/binary, String, Protobuf
• Logging
• Monitoring ("slow" API for detailed information)
• Registration ("fast" API for basic topic name and datatype information)
  • Topic event (added/removed publisher/subscriber) callbacks
• Services

Example

package main

import (
	"fmt"
	"time"

	"github.com/DownerCase/ecal-go/ecal"
	"github.com/DownerCase/ecal-go/ecal/string/publisher"
	"github.com/DownerCase/ecal-go/ecal/string/subscriber"
)

func main() {
	// Initialize eCAL
	ecal.Initialize(
		ecal.NewConfig(ecal.WithConsoleLogging(true), ecal.WithConsoleLogAll()),
		"Go eCAL!",
		ecal.CDefault,
	)
	defer ecal.Finalize() // Shutdown eCAL at the end of the program

	// Send messages
	go func() {
		publisher, err := publisher.New("string topic")
		if err != nil {
			panic("Failed to make string publisher")
		}
		defer publisher.Delete()

		for idx := 0; true; idx++ {
			_ = publisher.Send("This is message ", idx)

			time.Sleep(time.Second)
		}
	}()

	// Receive messages
	subscriber, err := subscriber.New("string topic")
	if err != nil {
		panic("Failed to Create string subscriber")
	}
	defer subscriber.Delete()

	for ecal.Ok() {
		msg, err := subscriber.Receive(time.Second * 2)
		if err == nil {
			fmt.Println("Received:", msg)
		} else {
			fmt.Println(err)
		}
	}
}

CLI Tools

Monitor

Features:

All the basic functionality from the upstream TUI monitor but:

• More efficient use of space; use the whole screen to view your messages!
• Easily send stop commands to eCAL processes (make eCAL::Ok() return false)

Non-system installations

If eCAL is not installed in a default search path or you wish to use a specific install of eCAL there is a helper CMake project to generate a package_user.go with the correct cgo flags.

cmake -S . -B build -DCMAKE_PREFIX_PATH=/path/to/cmake/install
go run .

Development

To help write the C and C++ wrapper use the CMake project to generate a compile_commands.json.