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# eCAL has been moved | ||
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# eCAL - enhanced Communication Abstraction Layer | ||
We are proud to announce that Continental eCAL has been moved under the umbrella of the **Eclipse Foundation**. From now on, Eclipse eCAL will be developed in the new repository: | ||
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https://github.com/eclipse-ecal/ecal | ||
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[![Build Windows Server 2019](https://github.com/eclipse-ecal/ecal/workflows/Build%20Windows%20Server%202019/badge.svg)](https://github.com/eclipse-ecal/ecal/actions?workflow=Build+Windows+Server+2019) [![Build Ubuntu 18.04](https://github.com/eclipse-ecal/ecal/workflows/Build%20Ubuntu%2018.04/badge.svg)](https://github.com/eclipse-ecal/ecal/actions?workflow=Build+Ubuntu+18.04) [![Build Ubuntu 20.04](https://github.com/eclipse-ecal/ecal/workflows/Build%20Ubuntu%2020.04/badge.svg)](https://github.com/eclipse-ecal/ecal/actions?workflow=Build+Ubuntu+20.04) [![Build Ubuntu 20.04 (Iceoryx)](https://github.com/eclipse-ecal/ecal/workflows/Build%20Ubuntu%2020.04%20(Iceoryx)/badge.svg)](https://github.com/eclipse-ecal/ecal/actions?workflow=Build+Ubuntu+20.04+(Iceoryx)) [![Build macOS](https://github.com/eclipse-ecal/ecal/actions/workflows/build-macos.yml/badge.svg)](https://github.com/eclipse-ecal/ecal/actions/workflows/build-macos.yml) | ||
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[![License](https://img.shields.io/github/license/continental/ecal.svg?style=flat)](LICENSE.txt) | ||
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The **e**nhanced **C**ommunication **A**bstraction **L**ayer (eCAL) is a middleware that enables scalable, high performance interprocess communication on a single computer node or between different nodes in a computer network. | ||
eCAL uses a **publish - subscribe** pattern to automatically connect different nodes in the network. | ||
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eCAL automatically chooses the best available data transport mechanism for each link: | ||
- **Shared memory** for local communication _(incredible fast!)_ | ||
- **UDP** for network communication | ||
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Visit the eCAL Documentation at 🌐 http://ecal.io for more information. | ||
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![](doc/rst/getting_started/img/ecal_concept_notebooks.svg) | ||
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## Facts about eCAL | ||
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* eCAL is fast (1 - 10 GB/s, depends on payload size. Check the measured performance [here](https://eclipse-ecal.github.io/ecal/advanced/performance.html)) | ||
* eCAL provides both publish-subscribe and server-client patterns | ||
* eCAL is brokerless | ||
* eCAL provides a C++ and C interface for easy integration into other languages (like python, csharp or [rust](https://github.com/kopernikusai/ecal-rs)) | ||
* eCAL can be used in conjunction with Matlab Simulink as [eCAL Simulink Toolbox](https://de.mathworks.com/matlabcentral/fileexchange/92825-ecal-toolbox) for simulation and prototyping | ||
* eCAL has powerful tools for [recording](https://eclipse-ecal.github.io/ecal/getting_started/recorder.html), [replay](https://eclipse-ecal.github.io/ecal/getting_started/player.html) and [monitoring](https://eclipse-ecal.github.io/ecal/getting_started/monitor.html) all your data flows - decentralized | ||
* eCAL is simple and zero-conf. No complex configuration for communication details and QOS settings are needed | ||
* eCAL is message protocol agnostic. You choose the message protocol that fits to your needs like [Google Protobuf](https://developers.google.com/protocol-buffers), [CapnProto](https://capnproto.org/), [Flatbuffers](https://google.github.io/flatbuffers/)... | ||
* eCAL uses the standardized recording format [HDF5](https://www.hdfgroup.org/solutions/hdf5/) | ||
* eCAL integrates gently into your ROS2 environment with the [eCAL RMW](https://github.com/continental/rmw_ecal) | ||
* eCAL supports Intel and arm platforms | ||
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* eCAL runs on a wide variety of operating systems: | ||
* Windows (stable) | ||
* Linux (stable) | ||
* QNX (stable) | ||
* MacOS (experimental) | ||
* FreeBSD (experimental) | ||
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## Installation | ||
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We provide binary installers for Windows and Ubuntu. If you need further help installing and configuring eCAL, please refer to the [documentation](https://eclipse-ecal.github.io/ecal/getting_started/setup.html). | ||
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### Windows | ||
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[Download](https://eclipse-ecal.github.io/ecal/_download_archive/download_archive.html) the latest eCAL Installer and follow the Setup Wizard | ||
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![eCAL Setup](doc/rst/getting_started/img/setup.png) | ||
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*We only support 64bit Windows 7 / 10* | ||
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### Ubuntu | ||
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Install eCAL from our PPA: | ||
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```bash | ||
sudo add-apt-repository ppa:ecal/ecal-latest | ||
sudo apt-get update | ||
sudo apt-get install ecal | ||
``` | ||
This PPA will always upgrade you to the latest eCAL Release (-> Rolling Release PPA). If you intend to stay on an specific release, check out other PPAs [here](https://eclipse-ecal.github.io/ecal/getting_started/setup.html#fa-ubuntu-automatically-install-ecal-from-a-ppa). | ||
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*Ubuntu 16.04, 18.04, 20.04, 20.10, 21.04 for CPU architectures i386, x64, armhf, arm64 are supported at the time of writing.* | ||
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## Example | ||
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Using eCAL in your project to exchange data is simple. After you have [downloaded eCAL](http://ecal.io) and installed CMake, you are good to go. | ||
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Check out the [Hello World](https://eclipse-ecal.github.io/ecal/getting_started/hello_world.html) example from the eCAL documentation for further details. | ||
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``` cpp | ||
#include <ecal/ecal.h> | ||
#include <ecal/msg/string/publisher.h> | ||
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#include <thread> | ||
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int main(int argc, char** argv) | ||
{ | ||
// Initialize eCAL. The name of our process will be "Hello World Publisher" | ||
eCAL::Initialize(argc, argv, "Hello World Publisher"); | ||
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// Create a String Publisher that publishes on the topic "hello_world_topic" | ||
eCAL::string::CPublisher<std::string> publisher("hello_world_topic"); | ||
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// Infinite loop | ||
while (eCAL::Ok()) | ||
{ | ||
// Publish a "Hello World" message | ||
publisher.Send("Hello World"); | ||
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std::this_thread::sleep_for(std::chrono::milliseconds(500)); | ||
} | ||
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// finalize eCAL API | ||
eCAL::Finalize(); | ||
} | ||
``` | ||
## Tools from the eCAL ecosystem | ||
eCAL comes with a set of read-to-use tools that will help you with developing, testing and debugging your software. **Command line interface** versions and easy to use **GUI** applications are available. | ||
- The **eCAL Monitor** to visualize the data flow and inspect messages sent between publishers and subscribers | ||
- The **eCAL Recorder** to record the data sent between your eCAL nodes | ||
- The **eCAL Player** to replay the eCAL recordings later on | ||
- **eCAL Sys** to define your system configuration and monitor your applications | ||
![eCAL Mon](gfx/app/monitor_imagevisu.png) | ||
## eCAL eco system tools / utilities / interfaces | ||
* [ecal-toolbox](https://github.com/mathworks/ecal-toolbox) - Mathworks simulink toolbox for eCAL | ||
* [ecal-mongraph](https://github.com/ecal-io/ecal-mongraph) - Simple graph visualization for eCAL | ||
* [ecal-gpsd-client](https://github.com/eclipse-ecal/ecal-gpsd-client) - eCAL gpsd client | ||
## eCAL & ROS | ||
* [rmw_ecal](https://github.com/eclipse-ecal/rmw_ecal) - eCAL / ROS2 middleware layer | ||
* [rosidl_typesupport_protobuf](https://github.com/eclipse-ecal/rosidl_typesupport_protobuf) - Protobuf based rosidl typesupport | ||
* [ecal-ros2-publisher](https://github.com/ecal-io/ecal-ros2-publisher) - Publishing eCAL topics to ROS2 | ||
* [ecal-ros2-subscriber](https://github.com/ecal-io/ecal-ros2-subscriber) - Subscribing ROS2 topics in eCAL | ||
## Other projects related to eCAL | ||
* [fine-ftpserver](https://github.com/eclipse-ecal/fineftp-server) - FTP functionality to collect distributed measurement artifacts over network | ||
* [tcp_pubsub](https://github.com/eclipse-ecal/tcp_pubsub) - Additional TCP transport layer for higher reliability for publication/subscription over network | ||
* [docker-ecal](https://github.com/Blutkoete/docker-ecal) - Inoffical dockerfiles for eCAL | ||
* [golang-ecal](https://github.com/Blutkoete/golang-ecal) - eCAL go language binding | ||
* [ecal-rs](https://github.com/kopernikusai/ecal-rs) - eCAL rust language binding | ||
* [trellis](https://github.com/agtonomy/trellis) - General purpose middleware framework for distributed applications | ||
* [iceoryx](https://github.com/eclipse/iceoryx) - Alternative shared memory transport layer (needs to be activated via CMake options) | ||
## License | ||
eCAL is licensed under Apache License 2.0. You are free to | ||
- Use eCAL commercially | ||
- Modify eCAL | ||
- Distribute eCAL | ||
eCAL is provided on an “as is” basis without warranties or conditions of any kind. | ||
You can find the new Eclipse eCAL Documentation at: https://eclipse-ecal.github.io/ecal/ |
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eCAL has been moved under the umbrella of the Eclipse Foundation. | ||
This documentation page can be found in the new Eclise eCAL Documentation: | ||
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https://eclipse-ecal.github.io/ecal/_download_archive/download_archive.html |
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eCAL has been moved under the umbrella of the Eclipse Foundation. | ||
This documentation page can be found in the new Eclise eCAL Documentation: | ||
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https://eclipse-ecal.github.io/ecal/_download_archive/download_archive_ecal_5_10_0.html |
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https://eclipse-ecal.github.io/ecal/_download_archive/download_archive_ecal_5_10_1.html |
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https://eclipse-ecal.github.io/ecal/_download_archive/download_archive_ecal_5_3_4_3.html |
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https://eclipse-ecal.github.io/ecal/_download_archive/download_archive_ecal_5_3_4_4.html |
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https://eclipse-ecal.github.io/ecal/_download_archive/download_archive_ecal_5_3_5.html |
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This documentation page can be found in the new Eclise eCAL Documentation: | ||
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https://eclipse-ecal.github.io/ecal/_download_archive/download_archive_ecal_5_4_0.html |
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eCAL has been moved under the umbrella of the Eclipse Foundation. | ||
This documentation page can be found in the new Eclise eCAL Documentation: | ||
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https://eclipse-ecal.github.io/ecal/_download_archive/download_archive_ecal_5_5_0.html |
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eCAL has been moved under the umbrella of the Eclipse Foundation. | ||
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https://eclipse-ecal.github.io/ecal/_download_archive/download_archive_ecal_5_5_1.html |
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https://eclipse-ecal.github.io/ecal/_download_archive/download_archive_ecal_5_5_2.html |
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https://eclipse-ecal.github.io/ecal/_download_archive/download_archive_ecal_5_5_3.html |
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https://eclipse-ecal.github.io/ecal/_download_archive/download_archive_ecal_5_5_4.html |
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https://eclipse-ecal.github.io/ecal/_download_archive/download_archive_ecal_5_5_5.html |
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https://eclipse-ecal.github.io/ecal/_download_archive/download_archive_ecal_5_6_0.html |
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https://eclipse-ecal.github.io/ecal/_download_archive/download_archive_ecal_5_7_1.html |
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https://eclipse-ecal.github.io/ecal/_download_archive/download_archive_ecal_5_7_12.html |
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https://eclipse-ecal.github.io/ecal/_download_archive/download_archive_ecal_5_7_9.html |
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https://eclipse-ecal.github.io/ecal/_download_archive/download_archive_ecal_5_8_0.html |
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eCAL has been moved under the umbrella of the Eclipse Foundation. | ||
This documentation page can be found in the new Eclise eCAL Documentation: | ||
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https://eclipse-ecal.github.io/ecal/_download_archive/download_archive_ecal_5_8_1.html |
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