Merge branch 'master' into micro

Author: angelrti

.github/workflows/1_run_interoperability_tests.yml

@@ -0,0 +1,31 @@
+name: CI DustDDS
+
+on:
+  workflow_dispatch:
+  pull_request:
+    paths:
+    - 'srcRs/DustDDS/**'
+
+jobs:
+  create_bin_release:
+    name: Create binary release
+    runs-on: ubuntu-latest
+    defaults:
+      run:
+        working-directory: srcRs/DustDDS
+    steps:
+    - name: Checkout sources
+      uses: actions/checkout@v4
+    - name: Build executable
+      run: cargo build --package dust_dds_shape_main_linux --release
+    - name: Rename executable
+      run: |
+        version=$( cargo tree --package dust_dds --depth 0 --prefix none | tr -d 'dust_dds v' )
+        cp ./target/release/dust_dds_shape_main_linux ./dust_dds-${version}_shape_main_linux
+        mkdir artifacts
+        zip --junk-paths artifacts/dust_dds-${version}_shape_main_linux.zip ./dust_dds-${version}_shape_main_linux
+    - name: Upload executable artifact
+      uses: actions/upload-artifact@v4
+      with:
+        name: interoperability_executable
+        path: srcRs/DustDDS/artifacts/

.github/workflows/ci_dustdds.yml

@@ -281,6 +281,9 @@ class ShapeOptions {
     useconds_t          periodic_announcement_period_us;
 
     unsigned int        datafrag_size;
+    char*               cft_expression;
+
+    int                 size_modulo;
 
 public:
     //-------------------------------------------------------------
@@ -338,6 +341,9 @@ class ShapeOptions {
         periodic_announcement_period_us = 0;
 
         datafrag_size = 0; // Default: 0 (means not set)
+        cft_expression = NULL;
+
+        size_modulo = 0; // 0 means disabled
     }
 
     //-------------------------------------------------------------
@@ -346,6 +352,7 @@ class ShapeOptions {
         STRING_FREE(topic_name);
         STRING_FREE(color);
         STRING_FREE(partition);
+        STRING_FREE(cft_expression);
     }
 
     //-------------------------------------------------------------
@@ -413,6 +420,13 @@ class ShapeOptions {
         printf("                                  announcement period in ms. Default 0 (off)\n");
         printf("   --datafrag-size <bytes> : set the data fragment size (default: 0, means\n");
         printf("                           not set)\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");
     }
 
     //-------------------------------------------------------------
@@ -425,7 +439,7 @@ 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;
         }
@@ -442,6 +456,9 @@ 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);
         }
@@ -477,6 +494,13 @@ class ShapeOptions {
             logger.log_message("warning: use of take/read_next_instance() not available, using take/read()", Verbosity::ERROR);
         }
 #endif
+        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;
     }
@@ -504,7 +528,9 @@ class ShapeOptions {
             {"take-read", no_argument, NULL, 'K'},
             {"time-filter", required_argument, NULL, 'i'},
             {"periodic-announcement", required_argument, NULL, 'N'},
-            {"datafrag-size", required_argument, NULL, 'F'},
+            {"datafrag-size", required_argument, NULL, 'Z'},
+            {"cft", required_argument, NULL, 'F'},
+            {"size-modulo", required_argument, NULL, 'Q'},
             {NULL, 0, NULL, 0 }
         };
 
@@ -889,7 +915,7 @@ class ShapeOptions {
                 periodic_announcement_period_us = (useconds_t) converted_param * 1000;
                 break;
             }
-            case 'F': {
+            case 'Z': {
                 unsigned int converted_param = 0;
                 if (sscanf(optarg, "%u", &converted_param) == 0) {
                     logger.log_message("unrecognized value for datafrag-size "
@@ -907,6 +933,17 @@ class ShapeOptions {
                     parse_ok = false;
                 }
                 datafrag_size = converted_param;
+            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 '?':
@@ -1643,19 +1680,26 @@ class ShapeApplication {
             logger.log_message("    HistoryDepth = " + std::to_string(dr_qos.history FIELD_ACCESSOR.depth), Verbosity::DEBUG);
         }
 
-        if ( options->color != NULL ) {
+        if ( options->cft_expression != NULL || options->color != NULL) {
             /* For Connext Micro color will be always NULL */
 #if !defined(RTI_CONNEXT_MICRO)
             /*  filter on specified color */
             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();
+                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);
@@ -1688,7 +1732,7 @@ class ShapeApplication {
                     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);
@@ -1888,6 +1932,7 @@ class ShapeApplication {
                             if (sample_info->instance_state != ALIVE_INSTANCE_STATE) {
                                 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;
 #elif defined(RTI_CONNEXT_MICRO)
@@ -1996,7 +2041,13 @@ 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 !defined(RTI_CONNEXT_MICRO)