Event listeners distinct

rmw_connextdds/CHANGELOG.rst

@@ -2,6 +2,21 @@
 Changelog for package rmw_connextdds
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.11.1 (2022-04-26)
+-------------------
+
+0.11.0 (2022-04-08)
+-------------------
+* Exclude missing sample info fields when building rmw_connextddsmicro (`#79 <https://github.com/ros2/rmw_connextdds/issues/79>`_)
+* Update launch_testing_ros output filter prefixes for Connext6 (`#80 <https://github.com/ros2/rmw_connextdds/issues/80>`_)
+* Contributors: Andrea Sorbini, Ivan Santiago Paunovic
+
+0.10.0 (2022-03-28)
+-------------------
+* Add support for user-specified content filters (`#68 <https://github.com/ros2/rmw_connextdds/issues/68>`_)
+* add stub for content filtered topic (`#77 <https://github.com/ros2/rmw_connextdds/issues/77>`_)
+* Contributors: Andrea Sorbini, Chen Lihui, Ivan Santiago Paunovic
+
 0.9.0 (2022-03-01)
 ------------------
 * Add rmw listener apis (`#44 <https://github.com/rticommunity/rmw_connextdds/issues/44>`_)

rmw_connextdds/CMakeLists.txt

@@ -73,4 +73,4 @@ ament_package(
 )
 
 ament_index_register_resource("rmw_output_prefixes"
-  CONTENT "RTI Data Distribution Service\nExpires on")
+  CONTENT "RTI Data Distribution Service\nRTI Connext DDS\nExpires on")

rmw_connextdds/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>rmw_connextdds</name>
-  <version>0.9.0</version>
+  <version>0.11.1</version>
   <description>A ROS2 RMW implementation built with RTI Connext DDS Professional.</description>
   <maintainer email="[email protected]">Andrea Sorbini</maintainer>
   <license>Apache License 2.0</license>

rmw_connextdds/src/rmw_api_impl_ndds.cpp

@@ -716,6 +716,24 @@ rmw_subscription_get_actual_qos(
   return rmw_api_connextdds_subscription_get_actual_qos(subscription, qos);
 }
 
+rmw_ret_t
+rmw_subscription_set_content_filter(
+  rmw_subscription_t * subscription,
+  const rmw_subscription_content_filter_options_t * options)
+{
+  return rmw_api_connextdds_subscription_set_content_filter(
+    subscription, options);
+}
+
+rmw_ret_t
+rmw_subscription_get_content_filter(
+  const rmw_subscription_t * subscription,
+  rcutils_allocator_t * allocator,
+  rmw_subscription_content_filter_options_t * options)
+{
+  return rmw_api_connextdds_subscription_get_content_filter(
+    subscription, allocator, options);
+}
 
 rmw_ret_t
 rmw_destroy_subscription(
@@ -937,3 +955,22 @@ rmw_subscription_get_network_flow_endpoints(
     allocator,
     network_flow_endpoint_array);
 }
+
+/******************************************************************************
+ * Feature support functions
+ ******************************************************************************/
+bool
+rmw_feature_supported(rmw_feature_t feature)
+{
+  switch (feature) {
+    case RMW_FEATURE_MESSAGE_INFO_RECEPTION_SEQUENCE_NUMBER:
+    case RMW_FEATURE_MESSAGE_INFO_PUBLICATION_SEQUENCE_NUMBER:
+      {
+        return true;
+      }
+    default:
+      {
+        return false;
+      }
+  }
+}

rmw_connextdds_common/CHANGELOG.rst

@@ -2,6 +2,24 @@
 Changelog for package rmw_connextdds_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.11.1 (2022-04-26)
+-------------------
+* Resolve build error with RTI Connext DDS 5.3.1 (`#82 <https://github.com/ros2/rmw_connextdds/issues/82>`_)
+* Contributors: Andrea Sorbini
+
+0.11.0 (2022-04-08)
+-------------------
+* Exclude missing sample info fields when building rmw_connextddsmicro (`#79 <https://github.com/ros2/rmw_connextdds/issues/79>`_)
+* Properly initialize CDR stream before using it for filtering (`#81 <https://github.com/ros2/rmw_connextdds/issues/81>`_)
+* Contributors: Andrea Sorbini
+
+0.10.0 (2022-03-28)
+-------------------
+* Add support for user-specified content filters (`#68 <https://github.com/ros2/rmw_connextdds/issues/68>`_)
+* add stub for content filtered topic (`#77 <https://github.com/ros2/rmw_connextdds/issues/77>`_)
+* Add sequence numbers to message info structure (`#74 <https://github.com/ros2/rmw_connextdds/issues/74>`_)
+* Contributors: Andrea Sorbini, Chen Lihui, Ivan Santiago Paunovic
+
 0.9.0 (2022-03-01)
 ------------------
 * Add rmw listener apis (`#44 <https://github.com/rticommunity/rmw_connextdds/issues/44>`_)

rmw_connextdds_common/CMakeLists.txt

@@ -62,13 +62,19 @@ function(rtirmw_add_library)
     ament_target_dependencies(${_rti_build_NAME}
         ${_rti_build_DEPS})
 
+    set(_extra_defines)
+    if("${CMAKE_BUILD_TYPE}" MATCHES "[dD]ebug")
+      list(APPEND _extra_defines "RMW_CONNEXT_DEBUG=1")
+    endif()
+
     target_compile_definitions(${_rti_build_NAME}
         PUBLIC
             RMW_VERSION_MAJOR=${rmw_VERSION_MAJOR}
             RMW_VERSION_MINOR=${rmw_VERSION_MINOR}
             RMW_VERSION_PATCH=${rmw_VERSION_PATCH}
             RMW_CONNEXT_DDS_API=RMW_CONNEXT_DDS_API_${_rti_build_API}
             ${_rti_build_DEFINES}
+            ${_extra_defines}
     )
 
     set(private_defines)
@@ -188,6 +194,9 @@ else()
     if("${CONNEXTDDS_VERSION}" VERSION_LESS "6.0.0")
       list(APPEND extra_defines "RMW_CONNEXT_DDS_API_PRO_LEGACY=1")
     endif()
+    if(CONNEXTDDS_ARCH MATCHES ".*Win.*")
+      list(APPEND extra_defines "RMW_CONNEXT_BUILTIN_CFT_COMPATIBILITY_MODE=1")
+    endif()
     rtirmw_add_library(
         NAME      ${PROJECT_NAME}_pro
         API       PRO
@@ -196,8 +205,10 @@ else()
                   src/ndds/rmw_type_support_ndds.cpp
                   src/ndds/rmw_typecode.cpp
                   src/ndds/dds_api_ndds.cpp
+                  src/ndds/custom_sql_filter.cpp
                   include/rmw_connextdds/typecode.hpp
                   include/rmw_connextdds/dds_api_ndds.hpp
+                  include/rmw_connextdds/custom_sql_filter.hpp
         DEPS      ${RMW_CONNEXT_DEPS}
         LIBRARIES RTIConnextDDS::c_api
         DEFINES   ${extra_defines})

rmw_connextdds_common/include/rmw_connextdds/custom_sql_filter.hpp

@@ -0,0 +1,66 @@
+// Copyright 2021 Real-Time Innovations, Inc. (RTI)
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+#ifndef RMW_CONNEXTDDS__CUSTOM_SQL_FILTER_HPP_
+#define RMW_CONNEXTDDS__CUSTOM_SQL_FILTER_HPP_
+
+#include "rmw_connextdds/dds_api.hpp"
+
+#if RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_PRO
+
+namespace rti_connext_dds_custom_sql_filter
+{
+
+struct CustomSqlFilterData
+{
+  DDS_SqlFilterGeneratorQos base;
+
+  CustomSqlFilterData();
+
+  DDS_ReturnCode_t
+  set_memory_management_property(
+    const DDS_DomainParticipantQos & dp_qos);
+};
+
+RMW_CONNEXTDDS_PUBLIC
+DDS_ReturnCode_t
+register_content_filter(
+  DDS_DomainParticipant * const participant,
+  CustomSqlFilterData * const filter_data);
+
+RMW_CONNEXTDDS_PUBLIC
+extern const char * const PLUGIN_NAME;
+
+}  // namespace rti_connext_dds_custom_sql_filter
+
+#if !RMW_CONNEXT_BUILTIN_CFT_COMPATIBILITY_MODE
+extern "C" {
+// This is an internal function from RTI Connext DDS which allows a filter to
+// be registered as "built-in". We need this because we want this custom filter
+// to be a replacement for the built-in SQL-like filter.
+RMW_CONNEXTDDS_PUBLIC
+DDS_ReturnCode_t
+DDS_ContentFilter_register_filter(
+  DDS_DomainParticipant * participant,
+  const char * name,
+  const struct DDS_ContentFilter * filter,
+  const DDS_ContentFilterEvaluateFunction evaluateOnSerialized,
+  const DDS_ContentFilterWriterEvaluateFunction writerEvaluateOnSerialized,
+  const DDS_ContentFilterQueryFunction query,
+  DDS_Boolean isBuiltin);
+}
+#endif  // RMW_CONNEXT_BUILTIN_CFT_COMPATIBILITY_MODE
+
+#endif  // RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_PRO
+
+#endif  // RMW_CONNEXTDDS__CUSTOM_SQL_FILTER_HPP_

rmw_connextdds_common/include/rmw_connextdds/dds_api.hpp

@@ -65,13 +65,19 @@ rmw_connextdds_initialize_participant_qos_impl(
   rmw_context_impl_t * const ctx,
   DDS_DomainParticipantQos * const dp_qos);
 
+rmw_ret_t
+rmw_connextdds_configure_participant(
+  rmw_context_impl_t * const ctx,
+  DDS_DomainParticipant * const participant);
+
 rmw_ret_t
 rmw_connextdds_create_contentfilteredtopic(
   rmw_context_impl_t * const ctx,
   DDS_DomainParticipant * const dp,
   DDS_Topic * const base_topic,
   const char * const cft_name,
   const char * const cft_filter,
+  const rcutils_string_array_t * const cft_expression_parameters,
   DDS_TopicDescription ** const cft_out);
 
 rmw_ret_t
@@ -263,4 +269,16 @@ rmw_connextdds_enable_security(
   DDS_SECURITY_PROPERTY_PREFIX ".logging.log_level"
 #endif /* DDS_SECURITY_LOGGING_LEVEL_PROPERTY */
 
+rmw_ret_t
+rmw_connextdds_set_cft_filter_expression(
+  DDS_TopicDescription * const topic_desc,
+  const char * const cft_expression,
+  const rcutils_string_array_t * const cft_expression_parameters);
+
+rmw_ret_t
+rmw_connextdds_get_cft_filter_expression(
+  DDS_TopicDescription * const topic_desc,
+  rcutils_allocator_t * const allocator,
+  rmw_subscription_content_filter_options_t * const options);
+
 #endif  // RMW_CONNEXTDDS__DDS_API_HPP_

rmw_connextdds_common/include/rmw_connextdds/dds_api_ndds.hpp

@@ -19,18 +19,6 @@
 
 #include "rcutils/types.h"
 
-DDS_SEQUENCE(RMW_Connext_Uint8ArrayPtrSeq, rcutils_uint8_array_t *);
-
-typedef RMW_Connext_Uint8ArrayPtrSeq RMW_Connext_UntypedSampleSeq;
-
-#define RMW_Connext_UntypedSampleSeq_INITIALIZER    DDS_SEQUENCE_INITIALIZER
-
-#define DDS_UntypedSampleSeq_get_reference(seq_, i_) \
-  *RMW_Connext_Uint8ArrayPtrSeq_get_reference(seq_, i_)
-
-#define DDS_UntypedSampleSeq_get_length(seq_) \
-  RMW_Connext_Uint8ArrayPtrSeq_get_length(seq_)
-
 #if RMW_CONNEXT_DDS_API_PRO_LEGACY
 #ifndef RTIXCdrLong_MAX
 #define RTIXCdrLong_MAX 2147483647

rmw_connextdds_common/include/rmw_connextdds/rmw_api_impl.hpp

@@ -17,6 +17,8 @@
 
 #include "rmw_connextdds/context.hpp"
 
+#include "rmw/features.h"
+
 /*****************************************************************************
  * Context API
  *****************************************************************************/
@@ -481,6 +483,18 @@ rmw_api_connextdds_subscription_get_actual_qos(
   const rmw_subscription_t * subscription,
   rmw_qos_profile_t * qos);
 
+RMW_CONNEXTDDS_PUBLIC
+rmw_ret_t
+rmw_api_connextdds_subscription_set_content_filter(
+  rmw_subscription_t * subscription,
+  const rmw_subscription_content_filter_options_t * options);
+
+RMW_CONNEXTDDS_PUBLIC
+rmw_ret_t
+rmw_api_connextdds_subscription_get_content_filter(
+  const rmw_subscription_t * subscription,
+  rcutils_allocator_t * const allocator,
+  rmw_subscription_content_filter_options_t * options);
 
 RMW_CONNEXTDDS_PUBLIC
 rmw_ret_t
@@ -637,4 +651,11 @@ rmw_api_connextdds_subscription_get_network_flow_endpoints(
   rcutils_allocator_t * allocator,
   rmw_network_flow_endpoint_array_t * network_flow_endpoint_array);
 
+/******************************************************************************
+ * Feature support functions
+ ******************************************************************************/
+RMW_CONNEXTDDS_PUBLIC
+bool
+rmw_api_connextdds_feature_supported(rmw_feature_t feature);
+
 #endif  // RMW_CONNEXTDDS__RMW_API_IMPL_HPP_

rmw_connextdds_common/include/rmw_connextdds/rmw_impl.hpp

@@ -438,6 +438,15 @@ class RMW_Connext_Subscriber
     rmw_message_info_t * const message_info,
     bool * const taken);
 
+  rmw_ret_t
+  set_content_filter(
+    const rmw_subscription_content_filter_options_t * const options);
+
+  rmw_ret_t
+  get_content_filter(
+    rcutils_allocator_t * allocator,
+    rmw_subscription_content_filter_options_t * const options);
+
   bool
   has_data()
   {
@@ -494,6 +503,17 @@ class RMW_Connext_Subscriber
     return this->dds_topic;
   }
 
+  static std::string get_atomic_id()
+  {
+    static std::atomic_uint64_t id;
+    return std::to_string(id++);
+  }
+
+  bool is_cft_enabled()
+  {
+    return !this->cft_expression.empty();
+  }
+
   const bool internal;
   const bool ignore_local;
 
@@ -502,6 +522,7 @@ class RMW_Connext_Subscriber
   DDS_DataReader * dds_reader;
   DDS_Topic * dds_topic;
   DDS_TopicDescription * dds_topic_cft;
+  std::string cft_expression;
   RMW_Connext_MessageTypeSupport * type_support;
   rmw_gid_t ros_gid;
   const bool created_topic;
@@ -520,6 +541,7 @@ class RMW_Connext_Subscriber
     const bool ignore_local,
     const bool created_topic,
     DDS_TopicDescription * const dds_topic_cft,
+    const char * const cft_expression,
     const bool internal);
 
   friend class RMW_Connext_SubscriberStatusCondition;