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angelrti merged 4 commits into from
Feb 6, 2026
Merged

Added cft test with a provided expression. Also added --size-modulo a… #76

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2241c61
Added cft test with a provided expression. Also added --size-modulo a…
angelrti Jan 22, 2026
c796de1
Updated doc for cft tests
angelrti Jan 23, 2026
23a4c05
Added a warning when using cft with publisher apps
angelrti Jan 30, 2026
bbdbbe0
Updated Test_Cft_1 to handle EOF
angelrti Jan 30, 2026
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120 changes: 88 additions & 32 deletions srcCxx/shape_main.cxx
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Original file line number Diff line number Diff line change
Expand Up @@ -276,6 +276,10 @@ class ShapeOptions {

useconds_t periodic_announcement_period_us;

char* cft_expression;

int size_modulo;

public:
//-------------------------------------------------------------
ShapeOptions()
Expand Down Expand Up @@ -330,6 +334,10 @@ class ShapeOptions {
take_read_next_instance = true;

periodic_announcement_period_us = 0;

cft_expression = NULL;

size_modulo = 0; // 0 means disabled
}

//-------------------------------------------------------------
Expand All @@ -338,6 +346,7 @@ class ShapeOptions {
STRING_FREE(topic_name);
STRING_FREE(color);
STRING_FREE(partition);
STRING_FREE(cft_expression);
}

//-------------------------------------------------------------
Expand Down Expand Up @@ -403,6 +412,13 @@ class ShapeOptions {
printf(" read_next_instance()\n");
printf(" --periodic-announcement <ms> : indicates the periodic participant\n");
printf(" announcement period in ms. Default 0 (off)\n");
printf(" --cft <expression> : ContentFilteredTopic filter expression (quotes\n");
printf(" required around the expression). Cannot be used with\n");
printf(" -c on subscriber applications\n");
printf(" --size-modulo <int> : If set, the modulo operation is applied to the\n");
printf(" shapesize. This will make that shapesize is in the\n");
printf(" range [1,N]. This only applies if shapesize is\n");
printf(" increased (-z 0)\n");
}

//-------------------------------------------------------------
Expand All @@ -415,7 +431,7 @@ class ShapeOptions {
logger.log_message("please specify publish [-P] or subscribe [-S]", Verbosity::ERROR);
return false;
}
if ( publish && subscribe ) {
if (publish && subscribe) {
logger.log_message("please specify only one of: publish [-P] or subscribe [-S]", Verbosity::ERROR);
return false;
}
Expand All @@ -432,6 +448,9 @@ class ShapeOptions {
if (publish && take_read_next_instance == false ) {
logger.log_message("warning: --take-read ignored on publisher applications", Verbosity::ERROR);
}
if (publish && cft_expression != NULL) {
logger.log_message("warning: --cft ignored on publisher applications", Verbosity::ERROR);
}
if (subscribe && shapesize != 20) {
logger.log_message("warning: shapesize [-z] ignored on subscriber applications", Verbosity::ERROR);
}
Expand All @@ -456,6 +475,13 @@ class ShapeOptions {
if (!coherent_set_enabled && !ordered_access_enabled && coherent_set_access_scope_set) {
logger.log_message("warning: --access-scope ignored because not coherent, or ordered access enabled", Verbosity::ERROR);
}
if (size_modulo > 0 && shapesize != 0) {
logger.log_message("warning: --size-modulo has no effect unless shapesize (-z) is set to 0", Verbosity::ERROR);
}
if (subscribe && color != NULL && cft_expression != NULL) {
logger.log_message("error: cannot specify both --cft and -c/--color for subscriber applications", Verbosity::ERROR);
return false;
}

return true;
}
Expand Down Expand Up @@ -483,6 +509,8 @@ class ShapeOptions {
{"take-read", no_argument, NULL, 'K'},
{"time-filter", required_argument, NULL, 'i'},
{"periodic-announcement", required_argument, NULL, 'N'},
{"cft", required_argument, NULL, 'F'},
{"size-modulo", required_argument, NULL, 'Q'},
{NULL, 0, NULL, 0 }
};

Expand Down Expand Up @@ -867,6 +895,19 @@ class ShapeOptions {
periodic_announcement_period_us = (useconds_t) converted_param * 1000;
break;
}
case 'F':
cft_expression = strdup(optarg);
break;
case 'Q': {
int converted_param = 0;
if (sscanf(optarg, "%d", &converted_param) == 0 || converted_param < 1) {
logger.log_message("incorrect value for size-modulo, must be >=1", Verbosity::ERROR);
parse_ok = false;
} else {
size_modulo = converted_param;
}
break;
}
case '?':
parse_ok = false;
break;
Expand Down Expand Up @@ -1500,50 +1541,58 @@ class ShapeApplication {
logger.log_message(" HistoryDepth = " + std::to_string(dr_qos.history FIELD_ACCESSOR.depth), Verbosity::DEBUG);
}

if ( options->color != NULL ) {
/* filter on specified color */
if ( options->cft_expression != NULL || options->color != NULL) {
ContentFilteredTopic *cft = NULL;
StringSeq cf_params;
StringSeq cf_params;

for (unsigned int i = 0; i < options->num_topics; ++i) {
const std::string filtered_topic_name_str =
std::string(options->topic_name) +
(i > 0 ? std::to_string(i) : "") +
"_filtered";
const char* filtered_topic_name = filtered_topic_name_str.c_str();
for (unsigned int i = 0; i < options->num_topics; ++i) {
const std::string filtered_topic_name_str =
std::string(options->topic_name) +
(i > 0 ? std::to_string(i) : "") +
"_filtered";
const char* filtered_topic_name = filtered_topic_name_str.c_str();
const char* filter_expr = nullptr;

if (options->cft_expression != NULL) {
filter_expr = options->cft_expression;
cft = dp->create_contentfilteredtopic(filtered_topic_name, topics[i], filter_expr, cf_params);
logger.log_message(" ContentFilterTopic = \"" + std::string(filter_expr) + "\"", Verbosity::DEBUG);
} else if (options->color != NULL) {
#if defined(RTI_CONNEXT_DDS)
char parameter[64];
snprintf(parameter, 64, "'%s'", options->color);
StringSeq_push(cf_params, parameter);
char parameter[64];
snprintf(parameter, 64, "'%s'", options->color);
StringSeq_push(cf_params, parameter);

cft = dp->create_contentfilteredtopic(filtered_topic_name, topics[i], "color MATCH %0", cf_params);
logger.log_message(" ContentFilterTopic = \"color MATCH "
+ std::string(parameter) + std::string("\""), Verbosity::DEBUG);
cft = dp->create_contentfilteredtopic(filtered_topic_name, topics[i], "color MATCH %0", cf_params);
logger.log_message(" ContentFilterTopic = \"color MATCH "
+ std::string(parameter) + std::string("\""), Verbosity::DEBUG);
#elif defined(INTERCOM_DDS)
char parameter[64];
snprintf(parameter, 64, "'%s'", options->color);
StringSeq_push(cf_params, parameter);
char parameter[64];
snprintf(parameter, 64, "'%s'", options->color);
StringSeq_push(cf_params, parameter);

cft = dp->create_contentfilteredtopic(filtered_topic_name, topics[i], "color = %0", cf_params);
logger.log_message(" ContentFilterTopic = \"color = "
+ std::string(parameter) + std::string("\""), Verbosity::DEBUG);
cft = dp->create_contentfilteredtopic(filtered_topic_name, topics[i], "color = %0", cf_params);
logger.log_message(" ContentFilterTopic = \"color = "
+ std::string(parameter) + std::string("\""), Verbosity::DEBUG);
#elif defined(TWINOAKS_COREDX) || defined(OPENDDS)
StringSeq_push(cf_params, options->color);
cft = dp->create_contentfilteredtopic(filtered_topic_name, topics[i], "color = %0", cf_params);
logger.log_message(" ContentFilterTopic = \"color = "
+ std::string(options->color) + std::string("\""), Verbosity::DEBUG);
StringSeq_push(cf_params, options->color);
cft = dp->create_contentfilteredtopic(filtered_topic_name, topics[i], "color = %0", cf_params);
logger.log_message(" ContentFilterTopic = \"color = "
+ std::string(options->color) + std::string("\""), Verbosity::DEBUG);
#elif defined(EPROSIMA_FAST_DDS)
cf_params.push_back(std::string("'") + options->color + std::string("'"));
cft = dp->create_contentfilteredtopic(filtered_topic_name, topics[i], "color = %0", cf_params);
logger.log_message(" ContentFilterTopic = \"color = "
+ cf_params[0] + std::string("\""), Verbosity::DEBUG);
cf_params.push_back(std::string("'") + options->color + std::string("'"));
cft = dp->create_contentfilteredtopic(filtered_topic_name, topics[i], "color = %0", cf_params);
logger.log_message(" ContentFilterTopic = \"color = "
+ cf_params[0] + std::string("\""), Verbosity::DEBUG);
#endif
}

if (cft == NULL) {
logger.log_message("failed to create content filtered topic", Verbosity::ERROR);
return false;
}

printf("Create reader for topic: %s color: %s\n", cft->get_name() NAME_ACCESSOR, options->color );
printf("Create reader for topic: %s\n", cft->get_name() NAME_ACCESSOR);
drs[i] = dynamic_cast<ShapeTypeDataReader *>(sub->create_datareader(cft, dr_qos, NULL, LISTENER_STATUS_MASK_NONE));
if (drs[i] == NULL) {
logger.log_message("failed to create datareader[" + std::to_string(i) + "] topic: " + topics[i]->get_name(), Verbosity::ERROR);
Expand Down Expand Up @@ -1728,6 +1777,7 @@ class ShapeApplication {
} else {
ShapeType shape_key;
shape_initialize_w_color(shape_key, NULL);

#if defined(EPROSIMA_FAST_DDS)
shape_key.color FIELD_ACCESSOR = instance_handle_color[sample_info->instance_handle] NAME_ACCESSOR;
#else
Expand Down Expand Up @@ -1831,7 +1881,13 @@ class ShapeApplication {
moveShape(&shape);

if (options->shapesize == 0) {
shape.shapesize FIELD_ACCESSOR += 1;
if (options->size_modulo > 0) {
// Size cannot be 0, so increase it after modulo operation
shape.shapesize FIELD_ACCESSOR =
(shape.shapesize FIELD_ACCESSOR % options->size_modulo) + 1;
} else {
shape.shapesize FIELD_ACCESSOR += 1;
}
}

if (options->coherent_set_enabled || options->ordered_access_enabled) {
Expand Down
25 changes: 21 additions & 4 deletions test_suite.py
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Original file line number Diff line number Diff line change
Expand Up @@ -425,22 +425,39 @@

# Content Filtered Topic
'Test_Cft_0' : {
'apps' : ['-P -t Square -r -c BLUE', '-P -t Square -r -c RED', '-S -t Square -r -c RED'],
'apps' : ['-P -t Square -r -k 0 -c BLUE', '-P -t Square -r -k 0 -c RED', '-S -t Square -r -k 0 --cft "color = \'RED\'"'],
'expected_codes' : [ReturnCode.OK, ReturnCode.OK, ReturnCode.RECEIVING_FROM_ONE],
'check_function' : tsf.test_color_receivers,
'title' : 'Use of Content filter to avoid receiving undesired data',
'description' : 'Verifies a subscription using a ContentFilteredTopic does not receive data that does not pass the filter\n\n'
'title' : 'Use of Content filter to avoid receiving undesired data (key)',
'description' : 'Verifies a subscription using a ContentFilteredTopic does not receive data that does not '
'pass the filter. The filter is applied to the key "color"\n\n'
' * Configures a subscriber with a ContentFilteredTopic that selects only the shapes that '
'have "color" equal to "RED"\n'
' * Configures a first publisher to publish samples with "color" equal to "BLUE"\n'
' * Configures a second publisher to publish samples with "color" equal to "RED"\n'
' * Use RELIABLE Qos in all publishers and subscriber to ensure any samples that are not '
'received are due to filtering\n'
' * Configures the publishers / subscriber with history KEEP_ALL\n'
' * Verifies that both publishers discover and match the subscriber and vice-versa\n'
' * Note that this test does not check whether the filtering happens in the publisher side or '
'the subscriber side. It only checks the middleware filters the samples somewhere.\n\n'
f'The test passes if the subscriber receives {tsf.MAX_SAMPLES_READ} samples of one color\n'
},
},

'Test_Cft_1': {
'apps': ['-P -t Square -r -k 0 -z 0 --size-modulo 50', '-S -t Square -r -k 0 --cft "shapesize <= 20"'],
'expected_codes': [ReturnCode.OK, ReturnCode.OK],
'check_function': tsf.test_size_less_than_20,
'title' : 'Use of Content filter to avoid receiving undesired data (non-key)',
'description': 'Verifies a subscription using a ContentFilteredTopic does not receive data that does not '
'pass the filter. The filter is applied to the non-key member "shapesize".\n\n'
' * Use RELIABLE Qos in all publishers and subscriber to avoid samples losses\n'
' * Configures the publisher / subscriber with history KEEP_ALL\n'
' * The publisher application sends samples with increasing value of the "size" member\n'
' * Publisher sends samples with size cycling from 1 to 50 (using --size-modulo 50 and -z 0)\n'
' * Subscriber uses --cft "shapesize <= 20"\n'
' * The test passes if all received samples have size < 20\n'
},

# PARTITION
'Test_Partition_0' : {
Expand Down
35 changes: 35 additions & 0 deletions test_suite_functions.py
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Original file line number Diff line number Diff line change
Expand Up @@ -305,6 +305,41 @@ def test_color_receivers(child_sub, samples_sent, last_sample_saved, timeout):
print(f'Samples read: {samples_read}')
return ReturnCode.RECEIVING_FROM_ONE

def test_size_less_than_20(child_sub, samples_sent, last_sample_saved, timeout):
"""
Checks that all received samples have size between 1 and 20 (inclusive).
Returns ReturnCode.OK if all samples are in range, otherwise ReturnCode.DATA_NOT_CORRECT.
"""
import re
from rtps_test_utilities import ReturnCode

max_samples_received = 500
samples_read = 0

sub_string = re.search('[0-9]+ [0-9]+ \[([0-9]+)\]', child_sub.before + child_sub.after)

while sub_string is not None and samples_read < max_samples_received:
size = int(sub_string.group(1))
if size < 1 or size > 20:
return ReturnCode.DATA_NOT_CORRECT

index = child_sub.expect(
[
'\[[0-9]+\]', # index = 0
pexpect.TIMEOUT # index = 1
],
timeout
)
if index == 1:
break

samples_read += 1
sub_string = re.search('[0-9]+ [0-9]+ \[([0-9]+)\]', child_sub.before + child_sub.after)

print(f'Samples read: {samples_read}')
return ReturnCode.OK


def test_reliability_order(child_sub, samples_sent, last_sample_saved, timeout):
"""
This function tests reliability, it checks whether the subscriber receives
Expand Down