[core] protobuf service client to v6 #1981

rex-schilasky · 2025-01-30T19:46:13Z

Description

This pull request overhauls the eCAL Protobuf service client API by replacing the legacy client implementation with a more modern, type-safe, and modular design. In the old API, the class eCAL::protobuf::CServiceClient was implemented as a thin wrapper around the eCAL v5 client and provided only a generic (untyped) call interface. The new design introduces several major improvements:

Key Enhancements

1. Separation of Typed and Untyped APIs

Typed API:
- A new templated response structure, TMsgServiceResponse<ResponseT>, now encapsulates a strongly typed protobuf response along with metadata (call state, server ID, method information, return state, and error message).
- A vector alias, TMsgServiceResponseVecT<ResponseT>, is provided to ease handling of responses from multiple service instances.
- The new client class CServiceClientTyped<T> offers templated call methods (for both blocking and callback-based calls) that automatically parse the raw response into a typed response.
Untyped API:
- The untyped API is now encapsulated in CServiceClient<T>, which provides methods that return the raw SServiceResponse. This retains compatibility for users who prefer to handle response parsing manually.

2. Client Instance Refactoring

The legacy CServiceClient implementation relied on a single client instance wrapper. The new design splits the functionality into two distinct client instance wrappers:
- CClientInstanceUntyped:
  Provides untyped call methods that directly return raw responses.
- CClientInstanceTyped:
  Provides templated call methods that parse and convert raw responses into strongly typed responses.
Both wrappers now use composition (i.e., they wrap an underlying eCAL::CClientInstance) rather than inheritance, which improves modularity and maintainability.

3. Unified Base Class for Service Clients

A new two-parameter base class, CServiceClientBase<T, ClientInstanceT>, has been introduced. It centralizes common functionality such as:
- Converting the underlying generic client instances into templated client instance wrappers.
- Providing helper functions (e.g., ProcessInstances) to uniformly iterate over and process all available client instances.
The untyped (CServiceClient<T>) and typed (CServiceClientTyped<T>) client classes derive from this new base class, passing in CClientInstanceUntyped<T> or CClientInstanceTyped<T> as the second template parameter, respectively.

4. Enhanced Call Method Overloads

Blocking Calls:
- The new CallWithResponse methods return a std::pair<bool, std::vector<...>> where:
  - The bool indicates whether all client instances responded successfully.
  - The std::vector contains responses from all matching service instances.
  - In the typed version, the vector holds TMsgServiceResponse<ResponseT>.
Callback Calls:
- Both synchronous and asynchronous callback-based calls have been updated:
  - The untyped variant uses the legacy ResponseCallbackT to deliver the raw response.
  - The typed variant uses TMsgResponseCallbackT<ResponseT> so that the client callback receives an automatically parsed, strongly typed response.
Internal helper functions (such as those used in ProcessInstances) have been refactored to minimize code duplication and simplify the overall implementation.

5. Code Duplication Reduction and Better Maintainability

Common response processing logic has been factored out into helper functions, reducing code duplication across different call variants.
The overall structure is cleaner and more modular, which should ease future maintenance and extension of the API.

Backwards Compatibility

While the legacy v5 API overloads (which used raw serialized strings and generic responses) have been replaced, the overall behavior remains consistent.
Existing code can be migrated by switching to the new templated call methods:
- Use CServiceClient<T> for untyped calls.
- Use CServiceClientTyped<T> for strongly typed calls.
The new API retains support for both blocking (synchronous) and callback-based (asynchronous) service calls.

Impact on Client Code

Client applications will now benefit from improved type safety and easier access to service responses. For example:

Using the Typed Service Client

// Using the CallWithCallback variant:

{
  std::cout << "Calling MathService::Add (callback) with inputs: "
            << math_request.inp1() << " and " << math_request.inp2() << std::endl;
  if (!math_client.CallWithCallback<SFloat>("Add", math_request, OnMathResponse))
  {
    std::cout << "MathService::Add method call (callback) failed." << std::endl;
  }
}

// Using the CallWithResponse (blocking) variant:

{
  std::cout << "Calling MathService::Multiply (blocking) with inputs: "
            << math_request.inp1() << " and " << math_request.inp2() << std::endl;
  auto multiply_response = math_client.CallWithResponse<SFloat>("Multiply", math_request);
  if (multiply_response.first)
  {
    for (const auto& resp : multiply_response.second)
    {
      if (resp.response)
      {
        std::cout << "Received typed response: " << resp.response->out() << std::endl;
      }
      else
      {
        std::cout << "Error in response: " << resp.error_msg << std::endl;
      }
    }
  }
  else
  {
    std::cout << "MathService::Multiply call failed." << std::endl;
  }
}

Iterating Over Client Instances

// Iterative CallWithCallback on each client instance:

{
  auto instances = math_client.GetClientInstances();
  for (auto& instance : instances)
  {
    if (!instance.CallWithCallback<SFloat>("Divide", math_request, OnMathResponse))
    {
      std::cout << "MathService::Divide call on an instance failed." << std::endl;
    }
  }
}

// Iterative blocking calls:

{
  auto instances = math_client.GetClientInstances();
  for (auto& instance : instances)
  {
    auto divide_response = instance.CallWithResponse<SFloat>("Divide", math_request);
    if (divide_response.first)
    {
      std::cout << "Received typed response for Divide: " << divide_response.second.response->out() << std::endl;
    }
    else
    {
      std::cout << "MathService::Divide call failed: " << divide_response.second.error_msg << std::endl;
    }
  }
}

Callback Example

void OnMathResponse(const eCAL::protobuf::TMsgServiceResponse<SFloat>& service_response)
{
  const auto& method_name = service_response.service_method_information.method_name;
  const auto& host_name   = service_response.server_id.service_id.host_name;
  const int32_t process_id = service_response.server_id.service_id.process_id;

  if (service_response.call_state == eCAL::eCallState::executed && service_response.response)
  {
    std::cout << "Callback: " << method_name << " returned " 
              << service_response.response->out()
              << " from host " << host_name << " (pid " << process_id << ")" << std::endl;
  }
  else
  {
    std::cout << "Callback error for " << method_name << ": "
              << service_response.error_msg << " from host " << host_name << std::endl;
  }
}

Summary

Enhanced API:
The new design cleanly separates typed and untyped responses and introduces a unified base class for service clients.
Stronger Type Safety:
With templated call methods, client code can directly work with strongly typed responses.
Modular and Maintainable:
The client instance wrappers and common helper functions reduce code duplication and improve maintainability.
Seamless Migration:
Although the legacy API has been replaced, the overall behavior remains consistent. Existing client code can be updated by migrating to the new templated call methods.

github-actions

clang-tidy made some suggestions

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app/sys/sys_core/src/connection/remote_connection.cpp

serialization/protobuf/protobuf/include/ecal/msg/protobuf/client.h

github-actions · 2025-02-05T12:38:14Z

serialization/protobuf/protobuf/include/ecal/msg/protobuf/client_instance.h

+    {
+    public:
+      // Constructors
+      CClientInstance(eCAL::CClientInstance&& base_instance_) noexcept


warning: rvalue reference parameter 'base_instance_' is never moved from inside the function body [cppcoreguidelines-rvalue-reference-param-not-moved]

CClientInstance(eCAL::CClientInstance&& base_instance_) noexcept ^

serialization/protobuf/protobuf/include/ecal/msg/protobuf/client_instance.h

serialization/protobuf/protobuf/include/ecal/msg/protobuf/typed_response.h

serialization/protobuf/samples/services/math_client/src/math_client.cpp

… means all host in legacy logic)

github-actions

clang-tidy made some suggestions

serialization/protobuf/protobuf/include/ecal/msg/protobuf/client_typed_response.h

serialization/protobuf/samples/services/ping_client/src/ping_client.cpp

github-actions

clang-tidy made some suggestions

serialization/protobuf/protobuf/include/ecal/msg/protobuf/client.h

github-actions

clang-tidy made some suggestions

serialization/protobuf/protobuf/include/ecal/msg/protobuf/client_instance.h

serialization/protobuf/protobuf/include/ecal/msg/protobuf/client_response_parser.h

serialization/protobuf/protobuf/include/ecal/msg/protobuf/client_typed_response.h

… separate unit msg/protobuf/client_protobuf_utils.h

github-actions

clang-tidy made some suggestions

github-actions · 2025-02-06T10:35:45Z

serialization/protobuf/protobuf/include/ecal/msg/protobuf/client_protobuf_utils.h

+
+#pragma once
+
+#include <ecal/service/client.h>


warning: 'ecal/service/client.h' file not found [clang-diagnostic-error]

#include <ecal/service/client.h> ^

github-actions · 2025-02-06T10:35:45Z

serialization/protobuf/protobuf/include/ecal/msg/protobuf/client_protobuf_utils.h

+
+      ServiceMethodInformationSetT method_information_set;
+      CProtoDynDecoder dyn_decoder;
+      std::string error_s;


warning: variable 'error_s' is not initialized [cppcoreguidelines-init-variables]

Suggested change

std::string error_s;

std::string error_s = 0;

github-actions · 2025-02-06T10:35:45Z

serialization/protobuf/protobuf/include/ecal/msg/protobuf/client_protobuf_utils.h

+        const std::string& request_type_name = method_descriptor->input_type()->name();
+        const std::string& response_type_name = method_descriptor->output_type()->name();
+
+        std::string request_type_descriptor;


warning: variable 'request_type_descriptor' is not initialized [cppcoreguidelines-init-variables]

Suggested change

std::string request_type_descriptor;

std::string request_type_descriptor = 0;

github-actions · 2025-02-06T10:35:45Z

serialization/protobuf/protobuf/include/ecal/msg/protobuf/client_protobuf_utils.h

+        const std::string& response_type_name = method_descriptor->output_type()->name();
+
+        std::string request_type_descriptor;
+        std::string response_type_descriptor;


warning: variable 'response_type_descriptor' is not initialized [cppcoreguidelines-init-variables]

Suggested change

std::string response_type_descriptor;

std::string response_type_descriptor = 0;

DEFAULT_TIME_ARGUMENT

github-actions

clang-tidy made some suggestions

github-actions · 2025-02-07T09:46:58Z

app/rec/rec_server_cli/src/commands/command.h


-        static eCAL::rec::Error CallRemoteEcalrecService(const std::shared_ptr<eCAL::protobuf::CServiceClient<eCAL::pb::rec_server::EcalRecServerService>>& remote_ecalsys_service
+        static eCAL::rec::Error CallRemoteEcalrecService(const std::shared_ptr<eCAL::protobuf::CServiceClientUntypedCallback<eCAL::pb::rec_server::EcalRecServerService>>& remote_ecalsys_service


warning: function 'eCAL::rec_cli::command::Command::CallRemoteEcalrecService' has a definition with different parameter names [readability-inconsistent-declaration-parameter-name]

static eCAL::rec::Error CallRemoteEcalrecService(const std::shared_ptr<eCAL::protobuf::CServiceClientUntypedCallback<eCAL::pb::rec_server::EcalRecServerService>>& remote_ecalsys_service ^

Additional context

app/rec/rec_server_cli/src/commands/command.cpp:75: the definition seen here

eCAL::rec::Error Command::CallRemoteEcalrecService(const std::shared_ptr<eCAL::protobuf::CServiceClientUntypedCallback<eCAL::pb::rec_server::EcalRecServerService>>& remote_ecalrec_service ^

app/rec/rec_server_cli/src/commands/command.h:63: differing parameters are named here: ('remote_ecalsys_service'), in definition: ('remote_ecalrec_service')

static eCAL::rec::Error CallRemoteEcalrecService(const std::shared_ptr<eCAL::protobuf::CServiceClientUntypedCallback<eCAL::pb::rec_server::EcalRecServerService>>& remote_ecalsys_service ^

github-actions · 2025-02-07T09:46:59Z

app/rec/rec_server_cli/src/ecal_rec_server_cli.cpp

@@ -119,7 +119,7 @@ bool IsBuiltInFtpServerBusy(bool print_status = false);

 // Rec Sever instance and rec_server_service. We will only use one of those, depending on the remote-control setting
 std::shared_ptr<eCAL::rec_server::RecServer>                                                rec_server_instance;
-std::shared_ptr<eCAL::protobuf::CServiceClient<eCAL::pb::rec_server::EcalRecServerService>> remote_rec_server_service;
+std::shared_ptr<eCAL::protobuf::CServiceClientUntypedCallback<eCAL::pb::rec_server::EcalRecServerService>> remote_rec_server_service;


warning: variable 'remote_rec_server_service' is non-const and globally accessible, consider making it const [cppcoreguidelines-avoid-non-const-global-variables]

std::shared_ptr<eCAL::protobuf::CServiceClientUntypedCallback<eCAL::pb::rec_server::EcalRecServerService>> remote_rec_server_service; ^

github-actions · 2025-02-07T09:46:59Z

ecal/samples/cpp/orchestration/orchestrator/src/orchestrator.cpp

@@ -29,15 +29,14 @@ int main()
  // initialize eCAL API
  eCAL::Initialize("orchestrator");

-  eCAL::protobuf::CServiceClient<orchestrator::ComponentService> component1("component1");
-  eCAL::protobuf::CServiceClient<orchestrator::ComponentService> component2("component2");
+  eCAL::protobuf::CServiceClientTypedResponse<orchestrator::ComponentService> component1("component1");


warning: variable 'component1' of type 'eCAL::protobuf::CServiceClientTypedResponseorchestrator::ComponentService' can be declared 'const' [misc-const-correctness]

Suggested change

eCAL::protobuf::CServiceClientTypedResponse<orchestrator::ComponentService> component1("component1");

eCAL::protobuf::CServiceClientTypedResponse<orchestrator::ComponentService> const component1("component1");

github-actions · 2025-02-07T09:46:59Z

ecal/samples/cpp/orchestration/orchestrator/src/orchestrator.cpp

-  eCAL::protobuf::CServiceClient<orchestrator::ComponentService> component1("component1");
-  eCAL::protobuf::CServiceClient<orchestrator::ComponentService> component2("component2");
+  eCAL::protobuf::CServiceClientTypedResponse<orchestrator::ComponentService> component1("component1");
+  eCAL::protobuf::CServiceClientTypedResponse<orchestrator::ComponentService> component2("component2");


warning: variable 'component2' of type 'eCAL::protobuf::CServiceClientTypedResponseorchestrator::ComponentService' can be declared 'const' [misc-const-correctness]

Suggested change

eCAL::protobuf::CServiceClientTypedResponse<orchestrator::ComponentService> component2("component2");

eCAL::protobuf::CServiceClientTypedResponse<orchestrator::ComponentService> const component2("component2");

github-actions · 2025-02-07T09:46:59Z

samples/cpp/services/ecalplayer_client/src/ecalplayer_client.cpp

@@ -89,8 +92,7 @@ int main()
  eCAL::Initialize("ecalplayer client");

  // create player service client
-  eCAL::protobuf::CServiceClient<eCAL::pb::play::EcalPlayService> player_service;
-  player_service.AddResponseCallback(OnPlayerResponse);
+  eCAL::protobuf::CServiceClientUntypedCallback<eCAL::pb::play::EcalPlayService> player_service;


warning: variable 'player_service' of type 'eCAL::protobuf::CServiceClientUntypedCallbackeCAL::pb::play::EcalPlayService' can be declared 'const' [misc-const-correctness]

Suggested change

eCAL::protobuf::CServiceClientUntypedCallback<eCAL::pb::play::EcalPlayService> player_service;

eCAL::protobuf::CServiceClientUntypedCallback<eCAL::pb::play::EcalPlayService> const player_service;

github-actions · 2025-02-07T09:47:00Z

serialization/protobuf/protobuf/include/ecal/msg/protobuf/client_callback_base.h

+    {
+    public:
+      using CServiceClientBase<T>::CServiceClientBase;
+      virtual ~CServiceClientCallbackBase() override = default;


warning: 'virtual' is redundant since the function is already declared 'override' [cppcoreguidelines-explicit-virtual-functions]

Suggested change

virtual ~CServiceClientCallbackBase() override = default;

;

github-actions · 2025-02-07T09:47:00Z

serialization/protobuf/protobuf/include/ecal/msg/protobuf/client_protobuf_types.h

+
+#pragma once
+
+#include <ecal/service/types.h>


warning: 'ecal/service/types.h' file not found [clang-diagnostic-error]

#include <ecal/service/types.h> ^

github-actions · 2025-02-07T09:47:00Z

serialization/protobuf/protobuf/include/ecal/msg/protobuf/client_protobuf_types.h

+     * @tparam ResponseT The expected protobuf response type.
+     */
+    template <typename ResponseT>
+    struct TMsgServiceResponse


warning: constructor does not initialize these fields: server_id, service_method_information, error_msg [cppcoreguidelines-pro-type-member-init]

serialization/protobuf/protobuf/include/ecal/msg/protobuf/client_protobuf_types.h:50:

- SServiceId server_id; //!< Identifier of the server that executed the call - SServiceMethodInformation service_method_information; //!< Information about the called method + SServiceId server_id{}; //!< Identifier of the server that executed the call + SServiceMethodInformation service_method_information{}; //!< Information about the called method

serialization/protobuf/protobuf/include/ecal/msg/protobuf/client_protobuf_types.h:54:

- std::string error_msg; //!< Error message if the call failed + std::string error_msg{}; //!< Error message if the call failed

github-actions · 2025-02-07T09:47:01Z

serialization/protobuf/protobuf/include/ecal/msg/protobuf/client_response_base.h

+     * This class will serve as the parent for the typed and untyped variants.
+     */
+    template <typename T>
+    class CServiceClientResponseBase : public CServiceClientBase<T>


warning: class 'CServiceClientResponseBase' defines a default destructor but does not define a copy constructor, a copy assignment operator, a move constructor or a move assignment operator [cppcoreguidelines-special-member-functions]

> ^

github-actions · 2025-02-07T09:47:01Z

serialization/protobuf/protobuf/include/ecal/msg/protobuf/client_response_base.h

+    {
+    public:
+      using CServiceClientBase<T>::CServiceClientBase; // Inherit constructors
+      virtual ~CServiceClientResponseBase() override = default;


warning: 'virtual' is redundant since the function is already declared 'override' [cppcoreguidelines-explicit-virtual-functions]

Suggested change

virtual ~CServiceClientResponseBase() override = default;

s

…ed and untyped reponse

github-actions

clang-tidy made some suggestions

ecal/samples/cpp/orchestration/orchestrator/src/orchestrator.cpp

serialization/protobuf/protobuf/include/ecal/msg/protobuf/client.h

serialization/protobuf/protobuf/include/ecal/msg/protobuf/client_instance.h

github-actions · 2025-02-09T15:14:21Z

serialization/protobuf/protobuf/include/ecal/msg/protobuf/client_instance.h

+    {
+    public:
+      // Constructors
+      CClientInstanceTyped(eCAL::CClientInstance&& base_instance_) noexcept


warning: rvalue reference parameter 'base_instance_' is never moved from inside the function body [cppcoreguidelines-rvalue-reference-param-not-moved]

CClientInstanceTyped(eCAL::CClientInstance&& base_instance_) noexcept ^

github-actions · 2025-02-09T15:14:21Z

serialization/protobuf/protobuf/include/ecal/msg/protobuf/client_instance.h

+      {
+      }
+
+      CClientInstanceTyped(const SEntityId& entity_id_, const std::shared_ptr<eCAL::CServiceClientImpl>& service_client_impl_)


warning: constructor does not initialize these fields: m_instance [cppcoreguidelines-pro-type-member-init]

CClientInstanceTyped(const SEntityId& entity_id_, const std::shared_ptr<eCAL::CServiceClientImpl>& service_client_impl_) ^

github-actions · 2025-02-09T15:14:21Z

serialization/protobuf/protobuf/include/ecal/msg/protobuf/client_protobuf_types.h

+     * @tparam ResponseT The expected protobuf response type.
+     */
+    template <typename ResponseT>
+    struct TMsgServiceResponse


warning: constructor does not initialize these fields: server_id, service_method_information, error_msg [cppcoreguidelines-pro-type-member-init]

serialization/protobuf/protobuf/include/ecal/msg/protobuf/client_protobuf_types.h:50:

- SServiceId server_id; //!< Identifier of the server that executed the call - SServiceMethodInformation service_method_information; //!< Information about the called method + SServiceId server_id{}; //!< Identifier of the server that executed the call + SServiceMethodInformation service_method_information{}; //!< Information about the called method

serialization/protobuf/protobuf/include/ecal/msg/protobuf/client_protobuf_types.h:54:

- std::string error_msg; //!< Error message if the call failed + std::string error_msg{}; //!< Error message if the call failed

rex-schilasky added 2 commits January 30, 2025 20:42

msg/protobuf/client ported to v6 API

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Merge branch 'master' into core/msg-protobuf-client-v6

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rex-schilasky added the cherry-pick-to-NONE Don't cherry-pick these changes label Jan 30, 2025

rex-schilasky added 3 commits January 31, 2025 10:50

Merge branch 'master' into core/msg-protobuf-client-v6

a505730

first version of templated protobuf msg client

062d117

missing template

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Merge branch 'master' into core/msg-protobuf-client-v6

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hannemn mentioned this pull request Feb 5, 2025

eCAL 6 Serialization / Msg API Review #1988

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FlorianReimold added this to the eCAL 6 milestone Feb 6, 2025

host name handling fixed if client instances are used (empty hostname…

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… means all host in legacy logic)

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hannemn linked an issue Feb 6, 2025 that may be closed by this pull request

eCAL 6 Serialization / Msg API Review #1988

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clang tidy + CMakeLists.txt fix

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separate response parser

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rex-schilasky added 2 commits February 6, 2025 11:16

GetServiceNameFromDescriptor and CreateServiceMethodInformationSet in…

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… separate unit msg/protobuf/client_protobuf_utils.h

comments fixed

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S.O.L.I.D

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ServiceResponse -> SServiceResponse

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DEFAULT_TIME_ARGUMENT

DEFAULT_TIME_ARGUMENT -> eCAL::protobuf namespace

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rex-schilasky added 3 commits February 9, 2025 15:11

back to single client.h with only 2 different implementation with typ…

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…ed and untyped reponse

single client_instance.h with typed and untyped versions

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[core] protobuf service client to v6 #1981

[core] protobuf service client to v6 #1981

rex-schilasky commented Jan 30, 2025 •

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	std::string request_type_descriptor;
	std::string request_type_descriptor = 0;

	std::string response_type_descriptor;
	std::string response_type_descriptor = 0;


		static eCAL::rec::Error CallRemoteEcalrecService(const std::shared_ptr<eCAL::protobuf::CServiceClient<eCAL::pb::rec_server::EcalRecServerService>>& remote_ecalsys_service
		static eCAL::rec::Error CallRemoteEcalrecService(const std::shared_ptr<eCAL::protobuf::CServiceClientUntypedCallback<eCAL::pb::rec_server::EcalRecServerService>>& remote_ecalsys_service

	eCAL::protobuf::CServiceClientTypedResponse<orchestrator::ComponentService> component1("component1");
	eCAL::protobuf::CServiceClientTypedResponse<orchestrator::ComponentService> const component1("component1");

	eCAL::protobuf::CServiceClientUntypedCallback<eCAL::pb::play::EcalPlayService> player_service;
	eCAL::protobuf::CServiceClientUntypedCallback<eCAL::pb::play::EcalPlayService> const player_service;

[core] protobuf service client to v6 #1981

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[core] protobuf service client to v6 #1981

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rex-schilasky commented Jan 30, 2025 • edited Loading

Description

Key Enhancements

1. Separation of Typed and Untyped APIs

2. Client Instance Refactoring

3. Unified Base Class for Service Clients

4. Enhanced Call Method Overloads

5. Code Duplication Reduction and Better Maintainability

Backwards Compatibility

Impact on Client Code

Using the Typed Service Client

Iterating Over Client Instances

Callback Example

Summary

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rex-schilasky commented Jan 30, 2025 •

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