Add support for user-specified content filters

rmw_connextdds/src/rmw_api_impl_ndds.cpp

@@ -647,6 +647,24 @@ 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(

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)
@@ -112,7 +118,8 @@ set(RMW_CONNEXT_DEPS
  rosidl_typesupport_fastrtps_cpp
  rosidl_typesupport_introspection_c
  rosidl_typesupport_introspection_cpp
- rti_connext_dds_cmake_module)
+ rti_connext_dds_cmake_module
+ rti_connext_dds_custom_sql_filter)
 
 foreach(pkg_dep ${RMW_CONNEXT_DEPS})
  find_package(${pkg_dep} REQUIRED)

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
@@ -258,4 +264,16 @@ 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/rmw_api_impl.hpp

@@ -435,6 +435,18 @@ 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

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()
  {
@@ -470,6 +479,17 @@ 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;
 
@@ -478,6 +498,7 @@ 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;
@@ -496,6 +517,7 @@ 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;

rmw_connextdds_common/include/rmw_connextdds/static_config.hpp

@@ -15,6 +15,13 @@
 #ifndef RMW_CONNEXTDDS__STATIC_CONFIG_HPP_
 #define RMW_CONNEXTDDS__STATIC_CONFIG_HPP_
 
+/******************************************************************************
+ * Debug flags
+ ******************************************************************************/
+#ifndef RMW_CONNEXT_DEBUG
+#define RMW_CONNEXT_DEBUG 0
+#endif // RMW_CONNEXT_DEBUG
+
 /******************************************************************************
  * Default User Configuration
  ******************************************************************************/

rmw_connextdds_common/package.xml

@@ -11,6 +11,7 @@
  <buildtool_export_depend>ament_cmake</buildtool_export_depend>
 
  <depend>rti_connext_dds_cmake_module</depend>
+ <depend>rti_connext_dds_custom_sql_filter</depend>
  <depend>fastcdr</depend>
  <depend>rcutils</depend>
  <depend>rcpputils</depend>

rmw_connextdds_common/src/common/rmw_context.cpp

@@ -218,6 +218,12 @@ rmw_context_impl_t::initialize_participant(const bool localhost_only)
  return RMW_RET_ERROR;
  }
 
+ rmw_ret_t cfg_rc = rmw_connextdds_configure_participant(this, this->participant);
+ if (RMW_RET_OK != cfg_rc) {
+ RMW_CONNEXT_LOG_ERROR("failed to configure DDS participant")
+ return cfg_rc;
+ }
+
  /* Create DDS publisher/subscriber objects that will be used for all DDS
  writers/readers created to support RMW publishers/subscriptions. */
 
@@ -332,7 +338,21 @@ rmw_ret_t
 rmw_context_impl_t::finalize_participant()
 {
  RMW_CONNEXT_LOG_DEBUG("finalizing DDS DomainParticipant")
-
+#if RMW_CONNEXT_DEBUG && RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_PRO
+ // If we are building in Debug mode, an issue in Connext may prevent the
+ // participant from being able to delete any content-filtered topic if
+ // the participant has not been enabled.
+ // For this reason, make sure to enable the participant before trying to
+ // finalize it.
+ // TODO(asorbini) reconsider the need for this code in Connext > 6.1.0
+ if (DDS_RETCODE_OK !=
+ DDS_Entity_enable(DDS_DomainParticipant_as_entity(participant)))
+ {
+ RMW_CONNEXT_LOG_ERROR_SET(
+ "failed to enable DomainParticipant before deletion")
+ return RMW_RET_ERROR;
+ }
+#endif // RMW_CONNEXT_DEBUG && RMW_CONNEXT_DDS_API == RMW_CONNEXT_DDS_API_PRO
  if (RMW_RET_OK != rmw_connextdds_graph_finalize(this)) {
  RMW_CONNEXT_LOG_ERROR("failed to finalize graph cache")
  return RMW_RET_ERROR;
@@ -386,7 +406,7 @@ rmw_context_impl_t::finalize_participant()
  if (nullptr != this->participant) {
  // If we are cleaning up after some RMW failure, it is possible for some
  // DataWriter to not have been deleted.
- // Call DDS_Publisher_delete_contained_entities() to make sure we can
+ // Call DDS_DomainParticipant_delete_contained_entities() to make sure we can
  // dispose the publisher.
  if (DDS_RETCODE_OK !=
  DDS_DomainParticipant_delete_contained_entities(this->participant))
@@ -402,6 +422,7 @@ rmw_context_impl_t::finalize_participant()
  RMW_CONNEXT_LOG_ERROR_SET("failed to delete DDS participant")
  return RMW_RET_ERROR;
  }
+
  this->participant = nullptr;
  }