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Add support check for content filter feature in subscription #3089

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9 changes: 9 additions & 0 deletions rclcpp/include/rclcpp/subscription_base.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -551,6 +551,15 @@ class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
event_handlers_[event_type]->clear_on_ready_callback();
}

/// Check if content filtered topic feature of the subscription instance is supported.
/**
* \return boolean flag indicating if the content filtered topic of this subscription is
* supported.
*/
RCLCPP_PUBLIC
bool
is_cft_supported() const;

/// Check if content filtered topic feature of the subscription instance is enabled.
/**
* \return boolean flag indicating if the content filtered topic of this subscription is enabled.
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4 changes: 4 additions & 0 deletions rclcpp/src/rclcpp/parameter_event_handler.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -77,6 +77,10 @@ ParameterEventHandler::add_parameter_callback(
bool
ParameterEventHandler::configure_nodes_filter(const std::vector<std::string> & node_names)
{
if (!event_subscription_->is_cft_supported()) {
return false;
}

if (node_names.empty()) {
// Clear content filter
event_subscription_->set_content_filter("");
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6 changes: 6 additions & 0 deletions rclcpp/src/rclcpp/subscription_base.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -480,6 +480,12 @@ SubscriptionBase::set_on_new_message_callback(
}
}

bool
SubscriptionBase::is_cft_supported() const
{
return rcl_subscription_is_cft_supported(subscription_handle_.get());
}

bool
SubscriptionBase::is_cft_enabled() const
{
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116 changes: 59 additions & 57 deletions rclcpp/test/rclcpp/test_subscription_content_filter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -108,6 +108,21 @@ bool operator==(const test_msgs::msg::BasicTypes & m1, const test_msgs::msg::Bas
m1.uint64_value == m2.uint64_value;
}

TEST_F(TestContentFilterSubscription, is_cft_supported)
{
{
auto mock = mocking_utils::patch_and_return(
"lib:rclcpp", rcl_subscription_is_cft_supported, false);
EXPECT_FALSE(sub->is_cft_supported());
}

{
auto mock = mocking_utils::patch_and_return(
"lib:rclcpp", rcl_subscription_is_cft_supported, true);
EXPECT_TRUE(sub->is_cft_supported());
}
}

TEST_F(TestContentFilterSubscription, is_cft_enabled)
{
{
Expand Down Expand Up @@ -165,7 +180,7 @@ TEST_F(TestContentFilterSubscription, get_content_filter)

TEST_F(TestContentFilterSubscription, set_content_filter)
{
if (sub->is_cft_enabled()) {
if (sub->is_cft_supported()) {
EXPECT_NO_THROW(
sub->set_content_filter(filter_expression_init, expression_parameters_2));
} else {
Expand All @@ -178,8 +193,10 @@ TEST_F(TestContentFilterSubscription, set_content_filter)
TEST_F(TestContentFilterSubscription, content_filter_get_begin)
{
std::string rmw_implementation_str = std::string(rmw_get_implementation_identifier());
if (rmw_implementation_str == "rmw_zenoh_cpp") {
GTEST_SKIP();

// Run test only if rmw implementation supports content filter, otherwise skip it.
if (!sub->is_cft_supported()) {
GTEST_SKIP() << rmw_implementation_str << " doesn't support content filter";
}

using namespace std::chrono_literals;
Expand All @@ -206,28 +223,27 @@ TEST_F(TestContentFilterSubscription, content_filter_get_begin)
EXPECT_TRUE(receive);
EXPECT_EQ(original_message, output_message);

if (sub->is_cft_enabled()) {
EXPECT_NO_THROW(
sub->set_content_filter(filter_expression_init, expression_parameters_2));
// waiting to allow for filter propagation
std::this_thread::sleep_for(std::chrono::seconds(10));
EXPECT_NO_THROW(
sub->set_content_filter(filter_expression_init, expression_parameters_2));
// waiting to allow for filter propagation
std::this_thread::sleep_for(std::chrono::seconds(10));

test_msgs::msg::BasicTypes original_message;
original_message.int32_value = 3;
pub->publish(original_message);
test_msgs::msg::BasicTypes message_to_be_filtered;
message_to_be_filtered.int32_value = original_message.int32_value;
pub->publish(message_to_be_filtered);

test_msgs::msg::BasicTypes output_message;
bool receive = wait_for_message(output_message, sub, context, 10s);
EXPECT_FALSE(receive);
}
test_msgs::msg::BasicTypes output_message2;
receive = wait_for_message(output_message2, sub, context, 10s);
EXPECT_FALSE(receive);
}
}

TEST_F(TestContentFilterSubscription, content_filter_get_later)
{
std::string rmw_implementation_str = std::string(rmw_get_implementation_identifier());
if (rmw_implementation_str == "rmw_zenoh_cpp") {
GTEST_SKIP();
// Run test only if rmw implementation supports content filter, otherwise skip it.
if (!sub->is_cft_supported()) {
GTEST_SKIP() << rmw_implementation_str << " doesn't support content filter";
}

using namespace std::chrono_literals;
Expand All @@ -251,36 +267,30 @@ TEST_F(TestContentFilterSubscription, content_filter_get_later)

test_msgs::msg::BasicTypes output_message;
bool receive = wait_for_message(output_message, sub, context, 10s);
if (sub->is_cft_enabled()) {
EXPECT_FALSE(receive);
} else {
EXPECT_TRUE(receive);
EXPECT_EQ(original_message, output_message);
}
EXPECT_FALSE(receive);

if (sub->is_cft_enabled()) {
EXPECT_NO_THROW(
sub->set_content_filter(filter_expression_init, expression_parameters_2));
// waiting to allow for filter propagation
std::this_thread::sleep_for(std::chrono::seconds(10));
EXPECT_NO_THROW(
sub->set_content_filter(filter_expression_init, expression_parameters_2));
// waiting to allow for filter propagation
std::this_thread::sleep_for(std::chrono::seconds(10));

test_msgs::msg::BasicTypes original_message;
original_message.int32_value = 4;
pub->publish(original_message);
test_msgs::msg::BasicTypes matching_message;
matching_message.int32_value = original_message.int32_value;
pub->publish(matching_message);

test_msgs::msg::BasicTypes output_message;
bool receive = wait_for_message(output_message, sub, context, 10s);
EXPECT_TRUE(receive);
EXPECT_EQ(original_message, output_message);
}
test_msgs::msg::BasicTypes output_message2;
receive = wait_for_message(output_message2, sub, context, 10s);
EXPECT_TRUE(receive);
EXPECT_EQ(matching_message, output_message2);
}
}

TEST_F(TestContentFilterSubscription, content_filter_reset)
{
std::string rmw_implementation_str = std::string(rmw_get_implementation_identifier());
if (rmw_implementation_str == "rmw_zenoh_cpp") {
GTEST_SKIP();
// Run test only if rmw implementation supports content filter, otherwise skip it.
if (!sub->is_cft_supported()) {
GTEST_SKIP() << rmw_implementation_str << " doesn't support content filter";
}

using namespace std::chrono_literals;
Expand All @@ -304,28 +314,20 @@ TEST_F(TestContentFilterSubscription, content_filter_reset)

test_msgs::msg::BasicTypes output_message;
bool receive = wait_for_message(output_message, sub, context, 10s);
if (sub->is_cft_enabled()) {
EXPECT_FALSE(receive);
} else {
EXPECT_TRUE(receive);
EXPECT_EQ(original_message, output_message);
}
EXPECT_FALSE(receive);

if (sub->is_cft_enabled()) {
EXPECT_NO_THROW(
sub->set_content_filter(""));
// waiting to allow for filter propagation
std::this_thread::sleep_for(std::chrono::seconds(10));
EXPECT_NO_THROW(sub->set_content_filter(""));
// waiting to allow for filter propagation
std::this_thread::sleep_for(std::chrono::seconds(10));

test_msgs::msg::BasicTypes original_message;
original_message.int32_value = 4;
pub->publish(original_message);
test_msgs::msg::BasicTypes unfiltered_message;
unfiltered_message.int32_value = original_message.int32_value;
pub->publish(unfiltered_message);

test_msgs::msg::BasicTypes output_message;
bool receive = wait_for_message(output_message, sub, context, 10s);
EXPECT_TRUE(receive);
EXPECT_EQ(original_message, output_message);
}
test_msgs::msg::BasicTypes output_message2;
receive = wait_for_message(output_message2, sub, context, 10s);
EXPECT_TRUE(receive);
EXPECT_EQ(unfiltered_message, output_message2);
}
}

Expand Down