Add new functionalities to spy CommandLine interface

docs/rst/user_manual/configuration.rst

@@ -378,7 +378,6 @@ The type of the logs published is defined as follows:
  enable: true
  domain: 84
  topic-name: "FastDdsSpyLogs"
- publish-type: false
  stdout: true
 
 .. _user_manual_configuration_default:
@@ -438,5 +437,4 @@ A complete example of all the configurations described on this page can be found
  enable: true
  domain: 0
  topic-name: "FastDdsSpyLogs"
- publish-type: false
  stdout: true

fastddsspy_participants/include/fastddsspy_participants/model/DataStreamer.hpp

@@ -14,17 +14,19 @@
 
 #pragma once
 
-#include <iostream>
 #include <functional>
+#include <iostream>
 #include <shared_mutex>
 #include <tuple>
+#include <unordered_map>
 
 #include <fastcdr/cdr/fixed_size_string.hpp>
 
 #include <fastdds/dds/xtypes/dynamic_types/DynamicType.hpp>
 
-#include <ddspipe_core/types/topic/dds/DdsTopic.hpp>
 #include <ddspipe_core/types/dds/Payload.hpp>
+#include <ddspipe_core/types/topic/dds/DdsTopic.hpp>
+#include <ddspipe_core/types/topic/filter/WildcardDdsFilterTopic.hpp>
 
 #include <fastddsspy_participants/library/library_dll.h>
 #include <fastddsspy_participants/model/TopicRateCalculator.hpp>
@@ -51,7 +53,7 @@ class DataStreamer : public TopicRateCalculator
 
  FASTDDSSPY_PARTICIPANTS_DllAPI
  bool activate(
- const ddspipe::core::types::DdsTopic& topic_to_activate,
+ const ddspipe::core::types::WildcardDdsFilterTopic& topic_to_activate,
  const std::shared_ptr<CallbackType>& callback);
 
  FASTDDSSPY_PARTICIPANTS_DllAPI
@@ -67,12 +69,19 @@ class DataStreamer : public TopicRateCalculator
  const ddspipe::core::types::DdsTopic& topic,
  ddspipe::core::types::RtpsPayloadData& data) override;
 
+ FASTDDSSPY_PARTICIPANTS_DllAPI
+ bool is_topic_type_discovered(
+ const ddspipe::core::types::WildcardDdsFilterTopic& topic_to_activate) const noexcept;
+
  FASTDDSSPY_PARTICIPANTS_DllAPI
  bool is_topic_type_discovered(
  const ddspipe::core::types::DdsTopic& topic_to_activate) const noexcept;
 
 protected:
 
+ bool is_topic_type_discovered_nts_(
+ const ddspipe::core::types::WildcardDdsFilterTopic& topic_to_activate) const noexcept;
+
  bool is_topic_type_discovered_nts_(
  const ddspipe::core::types::DdsTopic& topic_to_activate) const noexcept;
 
@@ -82,10 +91,12 @@ class DataStreamer : public TopicRateCalculator
 
  bool activated_all_ {false};
 
- ddspipe::core::types::DdsTopic activated_topic_;
+ ddspipe::core::types::WildcardDdsFilterTopic activated_topic_;
 
  std::map<std::string, fastdds::dds::DynamicType::_ref_type> types_discovered_;
 
+ std::unordered_map<std::string, std::string> topic_type_discovered_;
+
  mutable std::shared_timed_mutex mutex_;
 };
 

fastddsspy_participants/include/fastddsspy_participants/visualization/ModelParser.hpp

@@ -14,6 +14,8 @@
 
 #pragma once
 
+#include <ddspipe_core/types/topic/filter/WildcardDdsFilterTopic.hpp>
+
 #include <fastddsspy_participants/library/library_dll.h>
 #include <fastddsspy_participants/model/SpyModel.hpp>
 #include <fastddsspy_participants/visualization/parser_data.hpp>
@@ -61,9 +63,21 @@ struct ModelParser
  const ddspipe::core::types::Guid& guid) noexcept;
 
  FASTDDSSPY_PARTICIPANTS_DllAPI
- static ddspipe::core::types::DdsTopic get_topic(
+ static std::set<eprosima::ddspipe::core::types::DdsTopic> get_topics(
+ const SpyModel& model) noexcept;
+ FASTDDSSPY_PARTICIPANTS_DllAPI
+ static std::set<eprosima::ddspipe::core::types::DdsTopic> get_topics(
  const SpyModel& model,
- std::string topic_name) noexcept;
+ const ddspipe::core::types::WildcardDdsFilterTopic& filter_topic) noexcept;
+
+ FASTDDSSPY_PARTICIPANTS_DllAPI
+ static SimpleTopicData simple_topic_data(
+ const SpyModel& model,
+ const ddspipe::core::types::DdsTopic& topic) noexcept;
+ FASTDDSSPY_PARTICIPANTS_DllAPI
+ static ComplexTopicData complex_topic_data(
+ const SpyModel& model,
+ const ddspipe::core::types::DdsTopic& topic) noexcept;
 
  FASTDDSSPY_PARTICIPANTS_DllAPI
  static std::vector<SimpleTopicData> topics(
@@ -72,9 +86,9 @@ struct ModelParser
  static std::vector<ComplexTopicData> topics_verbose(
  const SpyModel& model) noexcept;
  FASTDDSSPY_PARTICIPANTS_DllAPI
- static ComplexTopicData topics(
+ static std::vector<ComplexTopicData> topics_verbose(
  const SpyModel& model,
- const std::string& topic_name) noexcept;
+ const ddspipe::core::types::WildcardDdsFilterTopic& filter_topic) noexcept;
 };
 
 } /* namespace participants */

fastddsspy_participants/src/cpp/model/DataStreamer.cpp

@@ -42,14 +42,14 @@ bool DataStreamer::activate_all(
 }
 
 bool DataStreamer::activate(
- const ddspipe::core::types::DdsTopic& topic_to_activate,
+ const ddspipe::core::types::WildcardDdsFilterTopic& topic_to_activate,
  const std::shared_ptr<CallbackType>& callback)
 {
  if (!is_topic_type_discovered(topic_to_activate))
  {
  EPROSIMA_LOG_WARNING(FASTDDSSPY_DATASTREAMER,
  "Type <" << topic_to_activate.type_name <<
- "> for topic <" << topic_to_activate.topic_name() << "> is not discovered.");
+ "> for topic <" << topic_to_activate.topic_name << "> is not discovered.");
  return false;
  }
 
@@ -117,12 +117,13 @@ void DataStreamer::add_data(
  }
  else
  {
- if (!(activated_topic_ == topic))
+ if (!(activated_topic_.matches(topic)))
  {
  // If not all activated, and this is not the activated topic skip
- EPROSIMA_LOG_WARNING(
+ EPROSIMA_LOG_INFO(
  FASTDDSSPY_DATASTREAMER,
- "Not all activated, and this is not the activated topic.");
+ "Received data for topic '" << topic << "'. Note: This topic is not activated. " <<
+ "Not all topics activated.");
  return;
  }
  }
@@ -142,13 +143,43 @@ void DataStreamer::add_data(
  {
  dyn_type = it->second;
  }
+
+ auto map_it = topic_type_discovered_.find(topic.m_topic_name);
+ if (map_it == topic_type_discovered_.end())
+ {
+ topic_type_discovered_[topic.m_topic_name] = topic.type_name;
+ }
  }
 
  // This should be called without mutex taken
  // Here should only arrive if it must call callback. Otherwise must return somewhere before
  (*callback_)(topic, dyn_type, data);
 }
 
+bool DataStreamer::is_topic_type_discovered(
+ const ddspipe::core::types::WildcardDdsFilterTopic& filter_topic) const noexcept
+{
+ std::shared_lock<std::shared_timed_mutex> _(mutex_);
+ return is_topic_type_discovered_nts_(filter_topic);
+}
+
+bool DataStreamer::is_topic_type_discovered_nts_(
+ const ddspipe::core::types::WildcardDdsFilterTopic& filter_topic) const noexcept
+{
+ ddspipe::core::types::DdsTopic topic;
+ for (const auto& it : topic_type_discovered_)
+ {
+ topic.m_topic_name = it.first;
+ topic.type_name = it.second;
+ if (filter_topic.matches(topic) == true)
+ {
+ return true;
+ }
+ }
+
+ return false;
+}
+
 bool DataStreamer::is_topic_type_discovered(
  const ddspipe::core::types::DdsTopic& topic) const noexcept
 {

fastddsspy_participants/src/cpp/visualization/ModelParser.cpp

@@ -294,7 +294,7 @@ ComplexEndpointData ModelParser::readers(
 /*
  * This is an auxiliary function that is used to get topics endpoint database
  */
-std::set<eprosima::ddspipe::core::types::DdsTopic> get_topics(
+std::set<eprosima::ddspipe::core::types::DdsTopic> ModelParser::get_topics(
  const SpyModel& model) noexcept
 {
  std::set<eprosima::ddspipe::core::types::DdsTopic> result;
@@ -308,91 +308,63 @@ std::set<eprosima::ddspipe::core::types::DdsTopic> get_topics(
  return result;
 }
 
-ddspipe::core::types::DdsTopic ModelParser::get_topic(
+/*
+ * This is an auxiliary function that is used to get topics endpoint database that match with a regex topic_name
+ */
+std::set<eprosima::ddspipe::core::types::DdsTopic> ModelParser::get_topics(
  const SpyModel& model,
- std::string topic_name) noexcept
+ const ddspipe::core::types::WildcardDdsFilterTopic& filter_topic) noexcept
 {
-
+ std::set<eprosima::ddspipe::core::types::DdsTopic> result;
  for (const auto& endpoint : model.endpoint_database_)
  {
- if (endpoint.second.active && endpoint.second.topic.m_topic_name == topic_name)
+ if (endpoint.second.active && filter_topic.matches(endpoint.second.topic))
  {
- return endpoint.second.topic;
+ result.insert(endpoint.second.topic);
  }
  }
- ddspipe::core::types::DdsTopic topic;
- return topic;
+ return result;
 }
 
-std::vector<SimpleTopicData> ModelParser::topics(
- const SpyModel& model) noexcept
+SimpleTopicData ModelParser::simple_topic_data(
+ const SpyModel& model,
+ const ddspipe::core::types::DdsTopic& topic) noexcept
 {
- std::vector<SimpleTopicData> result;
+ SimpleTopicData result;
 
- std::set<eprosima::ddspipe::core::types::DdsTopic> endpoints_topics = get_topics(model);
- for (const auto& topic : endpoints_topics)
+ int datawriters = 0;
+ int datareaders = 0;
+ for (const auto& endpoint : model.endpoint_database_)
  {
- int datawriters = 0;
- int datareaders = 0;
- for (const auto& endpoint : model.endpoint_database_)
+ if (endpoint.second.active && endpoint.second.topic.m_topic_name == topic.m_topic_name)
  {
- if (endpoint.second.active && endpoint.second.topic.m_topic_name == topic.m_topic_name)
+ if (endpoint.second.is_reader())
+ {
+ datareaders++;
+ }
+ if (endpoint.second.is_writer())
  {
- if (endpoint.second.is_reader())
- {
- datareaders++;
- }
- if (endpoint.second.is_writer())
- {
- datawriters++;
- }
+ datawriters++;
  }
  }
- result.push_back({
- model.get_ros2_types() ? utils::demangle_if_ros_topic(topic.m_topic_name) : topic.m_topic_name,
- model.get_ros2_types() ? utils::demangle_if_ros_type(topic.type_name) : topic.type_name,
- datawriters,
- datareaders,
- {
- model.get_topic_rate(topic),
- "Hz"
- }
- });
  }
 
- return result;
-}
-
-std::vector<ComplexTopicData> ModelParser::topics_verbose(
- const SpyModel& model) noexcept
-{
- std::vector<ComplexTopicData> result;
-
- std::set<eprosima::ddspipe::core::types::DdsTopic> endpoints_topics = get_topics(model);
- for (const auto& topic : endpoints_topics)
- {
- result.push_back(topics(model, topic.m_topic_name));
- }
+ result.name = model.get_ros2_types() ? utils::demangle_if_ros_topic(topic.m_topic_name) : topic.m_topic_name;
+ result.type = model.get_ros2_types() ? utils::demangle_if_ros_type(topic.type_name) : topic.type_name;
+ result.datawriters = datawriters;
+ result.datareaders = datareaders;
+ result.rate.rate = model.get_topic_rate(topic);
+ result.rate.unit = "Hz";
 
  return result;
 }
 
-ComplexTopicData ModelParser::topics(
+ComplexTopicData ModelParser::complex_topic_data(
  const SpyModel& model,
- const std::string& topic_name) noexcept
+ const ddspipe::core::types::DdsTopic& topic) noexcept
 {
  ComplexTopicData result;
 
- // Lets check if topic exists
- auto topic = get_topic(model, topic_name);
-
- // If topic not found, return an empty Daa
- if (topic.m_topic_name != topic_name)
- {
- result.name = "";
- return result;
- }
-
  // Topic found, fill its information
  result.name = model.get_ros2_types() ? utils::demangle_if_ros_topic(topic.m_topic_name) : topic.m_topic_name;
  result.type = model.get_ros2_types() ? utils::demangle_if_ros_type(topic.type_name) : topic.type_name;
@@ -418,6 +390,50 @@ ComplexTopicData ModelParser::topics(
  return result;
 }
 
+std::vector<SimpleTopicData> ModelParser::topics(
+ const SpyModel& model) noexcept
+{
+ std::vector<SimpleTopicData> result;
+
+ std::set<eprosima::ddspipe::core::types::DdsTopic> endpoints_topics = get_topics(model);
+ for (const auto& topic : endpoints_topics)
+ {
+ result.push_back(simple_topic_data(model, topic));
+ }
+
+ return result;
+}
+
+std::vector<ComplexTopicData> ModelParser::topics_verbose(
+ const SpyModel& model) noexcept
+{
+ std::vector<ComplexTopicData> result;
+
+ std::set<eprosima::ddspipe::core::types::DdsTopic> endpoints_topics = get_topics(model);
+ for (const auto& topic : endpoints_topics)
+ {
+ result.push_back(complex_topic_data(model, topic));
+ }
+
+ return result;
+}
+
+std::vector<ComplexTopicData> ModelParser::topics_verbose(
+ const SpyModel& model,
+ const ddspipe::core::types::WildcardDdsFilterTopic& filter_topic) noexcept
+{
+ std::vector<ComplexTopicData> result;
+
+ // Lets check if topic exists
+ std::set<eprosima::ddspipe::core::types::DdsTopic> topics = get_topics(model, filter_topic);
+ for (const auto& topic : topics)
+ {
+ result.push_back(complex_topic_data(model, topic));
+ }
+
+ return result;
+}
+
 } /* namespace participants */
 } /* namespace spy */
 } /* namespace eprosima */