Update the argument type of interface declaration

Signed-off-by: Chen Lihui <lihui.chen@sony.com>

rmw/CMakeLists.txt

@@ -25,6 +25,7 @@ include(cmake/configure_rmw_library.cmake)
 
 set(rmw_sources
   "src/allocators.c"
+  "src/content_filtered_topic_options.c"
   "src/convert_rcutils_ret_to_rmw_ret.c"
   "src/event.c"
   "src/init.c"

rmw/include/rmw/rmw.h

@@ -91,6 +91,7 @@ extern "C"
 #include <stddef.h>
 #include <stdint.h>
 
+#include "rcutils/allocator.h"
 #include "rcutils/macros.h"
 #include "rcutils/types.h"
 
@@ -1115,11 +1116,10 @@ rmw_subscription_get_actual_qos(
   const rmw_subscription_t * subscription,
   rmw_qos_profile_t * qos);
 
-/// Set the filter expression and expression parameters for the subscription.
+/// Set the content filtered topic options for the subscription.
 /**
  * This function will set a filter expression and an array of expression parameters
- * for the given subscription, but not to update the original rmw_subscription_options_t
- * of subscription.
+ * for the given subscription.
  *
  * <hr>
  * Attribute          | Adherence
@@ -1130,36 +1130,27 @@ rmw_subscription_get_actual_qos(
  * Lock-Free          | Maybe [1]
  * <i>[1] implementation defined, check the implementation documentation</i>
  *
- * \param[in] subscription the subscription object to inspect.
- * \param[in] filter_expression A filter_expression is a string that specifies the criteria
- *   to select the data samples of interest. It is similar to the WHERE part of an SQL clause.
- *   Using an empty("") string can reset/clean content filtered topic for the subscription.
- * \param[in] expression_parameters An expression_parameters is an array of strings that
- *   give values to the ‘parameters’ (i.e., "%n" tokens begin from 0) in the filter_expression.
- *   The number of supplied parameters must fit with the requested values in the filter_expression.
- *   It can be NULL if there is no "%n" tokens placeholder in filter_expression.
- *   The maximun size allowance depends on concrete DDS vendor.
- *   (i.e., it cannot be greater than 100 on RTI_Connext.)
- * \return `RMW_RET_OK` if the query was successful, or
- * \return `RMW_RET_INVALID_ARGUMENT` if `subscription` is NULL, or
- * \return `RMW_RET_INVALID_ARGUMENT` if `filter_expression` is NULL, or
- * \return `RMW_RET_INVALID_ARGUMENT` if `expression_parameters` is NULL, or
- * \return `RMW_RET_INCORRECT_RMW_IMPLEMENTATION` if the `node` implementation
+ * \param[in] subscription The subscription to set content filtered topic options.
+ * \param[in] content_filtered_topic_options The content filtered topic options.
+ *   Use `content_filtered_topic_options.filter_expression` with an empty("") string to
+ *   reset/clean content filtered topic for the subscription.
+ * \return `RMW_RET_OK` if successful, or
+ * \return `RMW_RET_INVALID_ARGUMENT` if an argument is null, or
+ * \return `RMW_RET_INCORRECT_RMW_IMPLEMENTATION` if the `subscription` implementation
  *   identifier does not match this implementation, or
- * \return `RMW_RET_UNSUPPORTED` if the implementation does not support content filter topic, or
+ * \return `RMW_RET_UNSUPPORTED` if the implementation does not support content filtered topic, or
  * \return `RMW_RET_ERROR` if an unspecified error occurs.
  */
 RMW_PUBLIC
 RMW_WARN_UNUSED
 rmw_ret_t
 rmw_subscription_set_cft_expression_parameters(
   rmw_subscription_t * subscription,
-  const char * filter_expression,
-  const rcutils_string_array_t * expression_parameters);
+  const rmw_content_filtered_topic_options_t * content_filtered_topic_options);
 
-/// Retrieve the filter expression of the subscription.
+/// Retrieve the content filtered topic options of the subscription.
 /**
- * This function will return an filter expression by the given subscription.
+ * This function will return a content filtered topic options by the given subscription.
  *
  * <hr>
  * Attribute          | Adherence
@@ -1170,29 +1161,24 @@ rmw_subscription_set_cft_expression_parameters(
  * Lock-Free          | Maybe [1]
  * <i>[1] implementation defined, check the implementation documentation</i>
  *
- * \param[in] subscription the subscription object to inspect.
- * \param[out] filter_expression an filter expression, populated on success.
- *   It is up to the caller to deallocate the filter expression later on,
- *   using rcutils_get_default_allocator().deallocate().
- * \param[out] expression_parameters Array of expression parameters, populated on success.
- *   It is up to the caller to finalize this array later on, using rcutils_string_array_fini().
- * \return `RMW_RET_OK` if the query was successful, or
- * \return `RMW_RET_INVALID_ARGUMENT` if `subscription` is NULL, or
- * \return `RMW_RET_INVALID_ARGUMENT` if `filter_expression` is NULL or
- * \return `RMW_RET_INVALID_ARGUMENT` if `expression_parameters` is NULL, or
- * \return `RMW_RET_INCORRECT_RMW_IMPLEMENTATION` if the `node` implementation
+ * \param[in] subscription The subscription object to inspect.
+ * \param[in] allocator Allocator to be used when populating the content filtered topic options.
+ * \param[out] content_filtered_topic_options The content filtered topic options.
+ * \return `RMW_RET_OK` if successful, or
+ * \return `RMW_RET_INVALID_ARGUMENT` if an argument is null, or
+ * \return `RMW_RET_INCORRECT_RMW_IMPLEMENTATION` if the `subscription` implementation
  *   identifier does not match this implementation, or
  * \return `RMW_RET_BAD_ALLOC` if memory allocation fails, or
- * \return `RMW_RET_UNSUPPORTED` if the implementation does not support content filter topic, or
+ * \return `RMW_RET_UNSUPPORTED` if the implementation does not support content filtered topic, or
  * \return `RMW_RET_ERROR` if an unspecified error occurs.
  */
 RMW_PUBLIC
 RMW_WARN_UNUSED
 rmw_ret_t
 rmw_subscription_get_cft_expression_parameters(
   const rmw_subscription_t * subscription,
-  char ** filter_expression,
-  rcutils_string_array_t * expression_parameters);
+  rcutils_allocator_t * allocator,
+  rmw_content_filtered_topic_options_t * content_filtered_topic_options);
 
 /// Take an incoming ROS message.
 /**

rmw/include/rmw/types.h

@@ -27,6 +27,7 @@ extern "C"
 // map rcutils specific log levels to rmw speicfic type
 #include <rcutils/logging.h>
 
+#include "rmw/content_filtered_topic_options.h"
 #include "rmw/events_statuses/events_statuses.h"
 #include "rmw/init.h"
 #include "rmw/init_options.h"
@@ -179,8 +180,7 @@ typedef struct RMW_PUBLIC_TYPE rmw_subscription_options_s
   rmw_unique_network_flow_endpoints_requirement_t require_unique_network_flow_endpoints;
 
   /// Used to create a content filtered topic during subscription creation.
-  char * filter_expression;
-  rcutils_string_array_t * expression_parameters;
+  rmw_content_filtered_topic_options_t * content_filtered_topic_options;
 } rmw_subscription_options_t;
 
 typedef struct RMW_PUBLIC_TYPE rmw_subscription_s

rmw/src/subscription_options.c

@@ -26,8 +26,7 @@ rmw_get_default_subscription_options(void)
     .rmw_specific_subscription_payload = NULL,
     .ignore_local_publications = false,
     .require_unique_network_flow_endpoints = RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_NOT_REQUIRED,
-    .filter_expression = NULL,
-    .expression_parameters = NULL,
+    .content_filtered_topic_options = NULL,
   };
   return subscription_options;
 }

rmw/test/CMakeLists.txt

@@ -211,3 +211,12 @@ if(TARGET test_network_flow_endpoint_array)
   target_link_libraries(test_network_flow_endpoint_array ${PROJECT_NAME}
   osrf_testing_tools_cpp::memory_tools)
 endif()
+
+ament_add_gmock(test_content_filtered_topic_options
+  test_content_filtered_topic_options.cpp
+  # Append the directory of librmw so it is found at test time.
+  APPEND_LIBRARY_DIRS "$<TARGET_FILE_DIR:${PROJECT_NAME}>"
+)
+if(TARGET test_content_filtered_topic_options)
+  target_link_libraries(test_content_filtered_topic_options ${PROJECT_NAME})
+endif()

rmw/test/test_subscription_options.cpp

@@ -24,6 +24,5 @@ TEST(rmw_subscription_options, get_default_subscription_options)
   EXPECT_EQ(
     options.require_unique_network_flow_endpoints,
     RMW_UNIQUE_NETWORK_FLOW_ENDPOINTS_NOT_REQUIRED);
-  EXPECT_EQ(options.filter_expression, nullptr);
-  EXPECT_EQ(options.expression_parameters, nullptr);
+  EXPECT_EQ(options.content_filtered_topic_options, nullptr);
 }