Go-eCAL

Go bindings 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:

• Core
• Configuration
• Publisher
  • Zero Copy
• Subscriber
• Message Types
  • Generic
  • String
  • Protobuf
• Logging
• Services
• Monitoring
  • Publisher/Subscribers
  • Processes
  • Server/Clients
• Registration
  • Topic callbacks

CLI Tools

Monitor

Features:

• Show Publishers and Subscribers
  • Detailed topic view
  • Live message view
• Show Services
• Show Hosts
• Show Processes
• Show eCAL Logs
• Show config

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.