ecal.yaml

ecal.yaml#

eCAL has many options that can be configured via an .yaml file which is located at:

  • Windows: %localappdata%\eCAL\ecal.yaml

  • Ubuntu: /etc/ecal/ecal.yaml

Loading strategy (Priority)#

The eCAL configuration file is loaded based on the following priorities, whereever it is found first. If you want a specific eCAL Node to run with another ecal.yaml than the others, you can set the ECAL_DATA variable before starting the process, e.g. from a batch or shell skript. Also, if you place a ecal.yaml in the working directory of the process, it will be loaded if ECAL_DATA is not specified first.

In order to create the eCAL configuration files in the marked (*) directories, you can use the ecal_generate_config tool, which is part of the eCAL installation. It will generate the files in the first of the marked directories that is writable.

Important

This loading strategy is valid for eCAL 6.0 and up.

  • Windows:

    1. %ECAL_DATA%\ecal.yaml

    2. %cd%\ecal.yaml

    3. %localappdata%\eCAL\ecal.yaml *

    4. %ProgramData%\eCAL\ecal.yaml * (fallback)

  • Ubuntu:

    1. $ECAL_DATA/ecal.yaml

    2. $PWD/ecal.yaml

    3. $HOME/.ecal/ecal.yaml *

    4. /etc/ecal/ecal.yaml (fallback)

Note

When compiling eCAL from source:

In previous versions (before eCAL 6.0.0), you could set CMAKE_INSTALL_SYSCONFDIR to change the default configuration path and the applications could still find it on Linux.

This is not the case anymore.

Instead, when installing your build to a custom path, a directory next to lib named etc will be created containing the ecal.yaml file if no CMAKE_INSTALL_SYSCONFDIR is set. That file in etc relativ to the ecal_core library will be used if no other is found.

ecal.yaml options#

Here you can find the current ecal.yaml options with description and default values. You can download the file here or generate it with the ecal_generate_config tool.

  • ecal.yaml

      1#  _____     _ _                                ____    _    _                             
  2# | ____|___| (_)_ __  ___  ___            ___ / ___|  / \  | |                            
  3# |  _| / __| | | '_ \/ __|/ _ \  _____   / _ \ |     / _ \ | |                            
  4# | |__| (__| | | |_) \__ \  __/ |_____| |  __/ |___ / ___ \| |___                         
  5# |_____\___|_|_| .__/|___/\___|          \___|\____/_/   \_\_____|                        
  6#               |_|                                                                            
  7#        _       _           _                    __ _                       _   _             
  8#   __ _| | ___ | |__   __ _| |   ___ ___  _ __  / _(_) __ _ _   _ _ __ __ _| |_(_) ___  _ __  
  9#  / _` | |/ _ \| '_ \ / _` | |  / __/ _ \| '_ \| |_| |/ _` | | | | '__/ _` | __| |/ _ \| '_ \ 
 10# | (_| | | (_) | |_) | (_| | | | (_| (_) | | | |  _| | (_| | |_| | | | (_| | |_| | (_) | | | |
 11#  \__, |_|\___/|_.__/ \__,_|_|  \___\___/|_| |_|_| |_|\__, |\__,_|_|  \__,_|\__|_|\___/|_| |_|
 12#  |___/                                               |___/                                   
 13
 14
 15# Operation configuration
 16# eCAL components communication mode ("local" or "network"):
 17#   "local": local host only communication (default)
 18#   "network": communication across network boundaries
 19communication_mode: "local"
 20
 21
 22# Registration layer configuration
 23registration:
 24  # Topic registration refresh cylce (has to be smaller then registration timeout! Default: 1000)
 25  registration_refresh: 1000
 26  # Timeout for topic registration in ms (internal, Default: 60000)
 27  registration_timeout: 10000
 28  # Enable to receive registration information on the same local machine
 29  loopback: true
 30  # SHM transport domain that enables interprocess mechanisms across (virtual)
 31  # host borders (e.g, Docker); by default equivalent to local host name
 32  shm_transport_domain: ""
 33
 34  local:
 35    # Specify the transport type for local registration
 36    #   "shm": shared memory based registration
 37    #   "udp": udp based registration (default)
 38    transport_type: "udp"
 39    shm:
 40      # Domain name for shared memory based registration
 41      domain:  "ecal_mon"
 42      # Queue size of registration events
 43      queue_size: 1024
 44    udp:
 45      # Specify port for local registration traffic
 46      port: 14000
 47
 48  network:
 49    # Specify the transport type for network registration
 50    #   "udp": udp based registration (default)
 51    transport_type: "udp"
 52    udp:
 53    # Specify port for network registration traffic
 54      port: 14000
 55
 56
 57# Transport layer configuration
 58transport_layer:
 59  udp:
 60    # UDP configuration version (Since eCAL 5.12.)
 61    # v1: default behavior
 62    # v2: new behavior, comes with a bit more intuitive handling regarding masking of the groups
 63    config_version: "v2"
 64    # Multicast port number
 65    port: 14002
 66    # v1: Mask maximum number of dynamic multicast group (range 0.0.0.1-0.0.0.255)
 67    # v2: Masks are now considered like routes masking (range 255.0.0.0-255.255.255.255)
 68    mask: "255.255.255.240"
 69    # Send buffer in bytes
 70    send_buffer: 5242880
 71    # Receive buffer in bytes
 72    receive_buffer: 5242880
 73    # Maximum UDP datagram size in bytes
 74    # Default: 65507 = 64 KiB - 20 (IPv4 header) - 8 (UDP header) - 1
 75    # This is the maximum payload size for a single UDP datagram imposed by IPv4.
 76    max_datagram_size: 65507
 77    # Linux specific setting to join all network interfaces independend of their link state.
 78    # Enabling ensures that eCAL processes receive data when they are started before the
 79    # network devices are up and running.
 80    join_all_interfaces: false
 81    # Windows specific setting to enable receiving UDP traffic with the Npcap based receiver
 82    npcap_enabled: false
 83
 84    # Local mode multicast group and ttl
 85    local:
 86      # Multicast group base. All registration and logging is sent on this address
 87      group: "127.255.255.255"
 88      # TTL (hop limit) is used to determine the amount of routers being traversed towards the destination
 89      ttl: 1
 90
 91    network:
 92      # Multicast group base. All registration and logging is sent on this address
 93      group: "239.0.0.1"
 94      # TTL (hop limit) is used to determine the amount of routers being traversed towards the destination
 95      ttl: 3
 96
 97  tcp: 
 98    # Reader amount of threads that shall execute workload
 99    number_executor_reader: 4
100    # Writer amount of threads that shall execute workload
101    number_executor_writer: 4
102    # Reconnection attemps the session will try to reconnect in case of an issue
103    max_reconnections: 5
104
105
106# Publisher specific base settings
107publisher:
108  layer:
109    # Base configuration for shared memory publisher
110    shm:
111      # Enable layer
112      enable: true
113      # Enable zero copy shared memory transport mode
114      zero_copy_mode: false
115      # Force connected subscribers to send acknowledge event after processing the message.
116      # The publisher send call is blocked on this event with this timeout (0 == no handshake).
117      acknowledge_timeout_ms: 0
118      # Maximum number of used buffers (needs to be greater than 1, default = 1)
119      memfile_buffer_count: 1
120      # Default memory file size for new publisher
121      memfile_min_size_bytes: 4096
122      # Dynamic file size reserve before recreating memory file if topic size changes
123      memfile_reserve_percent: 50
124
125    # Base configuration for UDP publisher
126    udp:
127      # Enable layer
128      enable: true
129
130    # Base configuration for TCP publisher
131    tcp:
132      # Enable layer
133      enable: true
134
135  # Priority list for layer usage in local mode (Default: SHM > UDP > TCP)
136  priority_local: ["shm", "udp", "tcp"]
137  # Priority list for layer usage in cloud mode (Default: UDP > TCP)
138  priority_network: ["udp", "tcp"]
139
140
141# Subscriber specific base configuration
142subscriber:
143  layer:
144    # Base configuration for shared memory subscriber
145    shm:
146      # Enable layer
147      enable: true
148
149    # Base configuration for UDP subscriber
150    udp:
151      # Enabler layer
152      enable: true
153
154    # Base configuration for TCP subscriber
155    tcp:
156      # Enable layer
157      enable: false
158
159  # Enable dropping of payload messages that arrive out of order
160  drop_out_of_order_messages: true
161
162
163# Time configuration
164time:
165  # Time synchronisation interface name (dynamic library)
166  # The name will be extended with platform suffix (32|64), debug suffix (d) and platform extension (.dll|.so)
167  # Available modules are:
168  #   - ecaltime-localtime    local system time without synchronization
169  #   - ecaltime-linuxptp     For PTP / gPTP synchronization over ethernet on Linux
170  #                           (device configuration in ecaltime.ini)
171  rt: "ecaltime-localtime"
172  # Specify the module name for replaying
173  replay: ""
174
175
176# eCAL Application Configuration
177application:
178  # Configuration for eCAL Sys
179  sys:
180    # Apps blacklist to be excluded when importing tasks from cloud
181    filter_excl: "^eCALSysClient$|^eCALSysGUI$|^eCALSys$"
182  # Process specific configuration
183  terminal:
184    # Linux only command for starting applications with an external terminal emulator. 
185    # e.g. /usr/bin/x-terminal-emulator -e
186    #      /usr/bin/gnome-terminal -x
187    #      /usr/bin/xterm -e
188    # If empty, the command will be ignored.
189    emulator: ""
190
191
192# Logging configuration
193logging:
194  # Configuration for file, udp and console log provider
195  # Possible levels are: "info", "warning", "error", "fatal", "debug1", "debug2", "debug3", "debug4"
196  # Can be combined like
197  # log_level: ["warning", "fatal", "debug1", ...]
198  provider:
199    # Console logging configuration
200    console:
201      # Enable console logging
202      enable: true
203      # Log level for console output
204      log_level: ["info", "warning", "error", "fatal"]
205    # File logging configuration
206    file:
207      # Enable file logging
208      enable: false
209      # Log level for file output
210      log_level: []
211    # UDP logging configuration
212    udp:
213      # Enable UDP logging
214      enable: true
215      # Log level for UDP output
216      log_level: ["info", "warning", "error", "fatal"]
217    # File specific configuration
218    file_config: 
219      # Log file path
220      path: ""
221    # UDP specific configuration
222    udp_config:
223      # UDP Port for sending logging data
224      port: 14001
225  # Configuration for udp log receiver
226  receiver:
227    # Enable log receiving (UDP only)
228    enable: false
229    # UDP specific configuration
230    udp_config:
231      # UDP Port for sending logging data
232      port: 14001
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