The enhanced communication abstraction layer (eCAL) is a middleware that enables scalable, high performance interprocess communication on a single computer node or between different nodes in a computer network. The design is inspired by known Data Distribution Service for Real-Time Systems (see Data distribution service on wikipedia). The current eCAL implementation realizes a subset of such a DDS system, there is only a basic support for Quality of Service (QoS) driven data transport (best effort and reliable).
eCAL is designed for typical cloud computing scenarios where different processes exchange their I/O’s using a publisher/subscriber pattern. The data exchange is based on so called topics. A topic wraps the payload that should be exchanged with additional informations like a unique name, a type and a description. A topic can be connected to more than one publisher and/or subscriber. These are the basic elements of the eCAL API.
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eCAL - enhanced Communication Abstraction Layer
Copyright (c) 2020, Continental Corporation.
The enhanced Communication Abstraction Layer (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. It's choosing the best available data transport mechanisms - UDP for network communication and High Performance Shared Memory for local communication.
- is fast (1 - 10 GB/s depends on payload size - check measured performance here)
- provides publish / subscribe and client / server patterns
- is designed brokerless
- provides a C++ and C interface for easy integration into other languages (like python or csharp)
- supports intel and arm platforms
- has powerful tools for recording, replay and monitoring all your data flows - decentralized
- integrates gently into your ROS2 environement with the brand new eCAL RMW
eCAL runs on
- Windows (stable)
- Linux (stable)
- QNX (stable)
- MacOS (experimental)
- FreeBSD (experimental)
Really ?? Just another pub/sub middleware ? Why ? What is the different to my beloved fully featured DDS ?
- it's stupid simple - no complex configuration effort for all kind of communication details or QOS settings
- it's message protocol agnostic - choose the message protocol that fits to your needs like Google Protobuf, CapnProto, Flatbuffers ..
- it's using the standardized recording format HDF5
What is on the roadmap ?
- more language bindings (rust, go-lang)
- and ?? tell us about your use case :-)
[email protected] using eCAL
- eCAL Documentation: https://continental.github.io/ecal
- Getting Started Tutorial: https://continental.github.io/ecal/getting_started/introduction
- Downloads & Releases: https://github.com/continental/ecal/releases
*Note that all licence references and agreements mentioned in the eCAL README section above are relevant to that project's source code only.