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Add examples for ContentFilterTopic (#2596)
* Refs #13791. Add DefaultSQLFilter example Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev> * Refs #13791. Add CustomFilter example Signed-off-by: Ricardo González Moreno <ricardo@richiware.dev> * Refs #14220: rename example. First step to unify both examples into the same one with an user option indicating which filter to use (default SQL or custom one) Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #14220: infrastructure to run either the default or the custom filter. Default filter expression has been modified to filter different messages than the custom filter Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #14220: fix installation folder Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #14220: add example README Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #14220: apply review suggestions Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #14220: linters Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #14220: Use argument parser Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #14220: apply code review suggestions Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #14220: linters Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #14220: fix argument parser if option is unknown Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #14220: improve documentation Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #14220: apply review suggestions to README Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #14220: fix clang error Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #14220: apply new review suggestion batch Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> * Refs #14220: fix building error Signed-off-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com> Co-authored-by: JLBuenoLopez-eProsima <joseluisbueno@eprosima.com>
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‎examples/C++/DDS/CMakeLists.txt‎

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@@ -18,6 +18,7 @@ add_subdirectory(BasicConfigurationExample)
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add_subdirectory(Benchmark)
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add_subdirectory(ClientServerTest)
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add_subdirectory(Configurability)
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add_subdirectory(ContentFilteredTopicExample)
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add_subdirectory(CustomListenerExample)
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add_subdirectory(DeadlineQoSExample)
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add_subdirectory(DisablePositiveACKs)

‎examples/C++/DDS/ContentFilteredTopicExample/CMakeLists.txt‎

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# Copyright 2022 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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cmake_minimum_required(VERSION 3.16.3)
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project("ContentFilterTopic" VERSION 1 LANGUAGES CXX)
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# Find requirements
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if(NOT fastcdr_FOUND)
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find_package(fastcdr REQUIRED)
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endif()
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if(NOT fastrtps_FOUND)
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find_package(fastrtps REQUIRED)
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endif()
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message(STATUS "Configuring ContentFilterTopic examples...")
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set(CFT_COMMON_SOURCES
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ContentFilteredTopicExample_main.cpp
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ContentFilteredTopicExamplePublisher.cpp
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ContentFilteredTopicExampleSubscriber.cpp
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HelloWorld.cxx
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HelloWorldPubSubTypes.cxx
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HelloWorldTypeObject.cxx
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)
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add_executable(DDSContentFilteredTopicExample ${CFT_COMMON_SOURCES})
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target_compile_definitions(DDSContentFilteredTopicExample PRIVATE
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$<$<AND:$<NOT:$<BOOL:${WIN32}>>,$<STREQUAL:"${CMAKE_BUILD_TYPE}","Debug">>:__DEBUG>
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$<$<BOOL:${INTERNAL_DEBUG}>:__INTERNALDEBUG> # Internal debug activated.
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)
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target_compile_features(DDSContentFilteredTopicExample PRIVATE cxx_std_11)
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target_link_libraries(DDSContentFilteredTopicExample fastrtps fastcdr fastdds::optionparser)
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install(TARGETS DDSContentFilteredTopicExample
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RUNTIME DESTINATION examples/C++/DDS/ContentFilteredTopicExample/${BIN_INSTALL_DIR})

‎examples/C++/DDS/ContentFilteredTopicExample/ContentFilteredTopicExamplePublisher.cpp‎

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// Copyright 2022 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/**
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* @file ContentFilteredTopicExamplePublisher.cpp
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*
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*/
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#include "ContentFilteredTopicExamplePublisher.hpp"
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#include <thread>
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#include <fastdds/dds/core/status/PublicationMatchedStatus.hpp>
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#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
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#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
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#include <fastdds/dds/publisher/DataWriter.hpp>
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#include <fastdds/dds/publisher/Publisher.hpp>
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#include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
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#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
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using namespace eprosima::fastdds::dds;
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bool ContentFilteredTopicExamplePublisher::init()
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{
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// Initialize internal variables
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matched_ = 0;
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// Initialize data sample
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hello_.index(0);
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hello_.message("HelloWorld");
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// Set DomainParticipant name
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DomainParticipantQos pqos;
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pqos.name("Participant_pub");
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// Create DomainParticipant in domain 0
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participant_ = DomainParticipantFactory::get_instance()->create_participant(0, pqos);
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if (nullptr == participant_)
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{
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return false;
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}
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// Register the type
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type_.register_type(participant_);
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// Create the Publisher
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publisher_ = participant_->create_publisher(PUBLISHER_QOS_DEFAULT, nullptr);
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if (nullptr == publisher_)
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{
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return false;
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}
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// Create the Topic
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topic_ = participant_->create_topic("HelloWorldTopic", type_->getName(), TOPIC_QOS_DEFAULT);
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if (nullptr == topic_)
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{
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return false;
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}
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// Create the DataWriter
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writer_ = publisher_->create_datawriter(topic_, DATAWRITER_QOS_DEFAULT, this);
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if (nullptr == writer_)
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{
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return false;
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}
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return true;
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}
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ContentFilteredTopicExamplePublisher::~ContentFilteredTopicExamplePublisher()
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{
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// Delete DDS entities contained within the DomainParticipant
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participant_->delete_contained_entities();
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// Delete DomainParticipant
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DomainParticipantFactory::get_instance()->delete_participant(participant_);
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}
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void ContentFilteredTopicExamplePublisher::on_publication_matched(
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DataWriter*,
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const PublicationMatchedStatus& info)
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{
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// New remote DataReader discovered
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if (info.current_count_change == 1)
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{
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matched_ = info.current_count;
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first_connected_ = true;
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std::cout << "Publisher matched." << std::endl;
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}
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// New remote DataReader undiscovered
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else if (info.current_count_change == -1)
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{
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matched_ = info.current_count;
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std::cout << "Publisher unmatched." << std::endl;
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}
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// Non-valid option
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else
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{
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std::cout << info.current_count_change
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<< " is not a valid value for PublicationMatchedStatus current count change" << std::endl;
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}
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}
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void ContentFilteredTopicExamplePublisher::runThread(
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uint32_t samples,
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uint32_t sleep)
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{
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// Publish samples continously until stopped by the user
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if (samples == 0)
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{
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while (!stop_)
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{
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if (publish(false))
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{
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std::cout << "Message: " << hello_.message() << " with index: " << hello_.index()
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<< " SENT" << std::endl;
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}
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std::this_thread::sleep_for(std::chrono::milliseconds(sleep));
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}
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}
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// Publish given number of samples
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else
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{
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for (uint32_t i = 0; i < samples; ++i)
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{
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if (!publish())
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{
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--i;
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}
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else
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{
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std::cout << "Message: " << hello_.message() << " with index: " << hello_.index()
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<< " SENT" << std::endl;
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}
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std::this_thread::sleep_for(std::chrono::milliseconds(sleep));
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}
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}
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}
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void ContentFilteredTopicExamplePublisher::run(
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uint32_t samples,
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uint32_t sleep)
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{
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// Spawn publisher application thread
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stop_ = false;
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std::thread thread(&ContentFilteredTopicExamplePublisher::runThread, this, samples, sleep);
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// Thread runs indefinitely until stopped by the user
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if (samples == 0)
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{
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std::cout << "Publisher running. Please press enter to stop the Publisher at any time." << std::endl;
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std::cin.ignore();
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stop_ = true;
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}
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// Thread runs only for the given samples
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else
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{
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std::cout << "Publisher running " << samples << " samples." << std::endl;
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}
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thread.join();
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}
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bool ContentFilteredTopicExamplePublisher::publish(
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bool wait_for_listener)
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{
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// Wait until there is a matched DataReader, unless wait_for_listener flag is set to false
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if (first_connected_ || !wait_for_listener || matched_ > 0)
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{
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// Update sample
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hello_.index(hello_.index() + 1);
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// Write sample
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writer_->write(&hello_);
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return true;
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}
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return false;
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}

‎examples/C++/DDS/ContentFilteredTopicExample/ContentFilteredTopicExamplePublisher.hpp‎

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// Copyright 2022 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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/**
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* @file ContentFilteredTopicExamplePublisher.hpp
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*
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*/
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#ifndef _CONTENTFILTEREDTOPICEXAMPLEPUBLISHER_H_
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#define _CONTENTFILTEREDTOPICEXAMPLEPUBLISHER_H_
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#include <atomic>
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#include <fastdds/dds/core/status/PublicationMatchedStatus.hpp>
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#include <fastdds/dds/domain/DomainParticipant.hpp>
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#include <fastdds/dds/publisher/DataWriterListener.hpp>
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#include <fastdds/dds/publisher/DataWriter.hpp>
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#include <fastdds/dds/publisher/Publisher.hpp>
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#include <fastdds/dds/topic/Topic.hpp>
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#include <fastdds/dds/topic/TypeSupport.hpp>
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#include "HelloWorldPubSubTypes.h"
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//! Publisher application class
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class ContentFilteredTopicExamplePublisher : public eprosima::fastdds::dds::DataWriterListener
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{
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public:
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//! Constructor
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ContentFilteredTopicExamplePublisher() = default;
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//! Destructor
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virtual ~ContentFilteredTopicExamplePublisher();
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//! Initialize
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bool init();
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//! Publish a sample
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bool publish(
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bool wait_for_listener = true);
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//! Run for the given number of samples (0 => infinite samples)
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void run(
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uint32_t number,
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uint32_t sleep);
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private:
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//! Data type
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HelloWorld hello_;
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//! DDS DomainParticipant pointer
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eprosima::fastdds::dds::DomainParticipant* participant_ = nullptr;
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//! DDS Publisher pointer
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eprosima::fastdds::dds::Publisher* publisher_ = nullptr;
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//! DDS Topic pointer
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eprosima::fastdds::dds::Topic* topic_ = nullptr;
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//! DDS DataWriter pointer
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eprosima::fastdds::dds::DataWriter* writer_ = nullptr;
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//! DDS TypeSupport pointer
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eprosima::fastdds::dds::TypeSupport type_ = eprosima::fastdds::dds::TypeSupport(new HelloWorldPubSubType());
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//! Flag to terminate application
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std::atomic<bool> stop_;
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//! Number of DataReaders matched with the publisher application
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std::atomic<int> matched_;
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//! Flag set once the first subscriber is discovered and matched
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std::atomic<bool> first_connected_;
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//! Discovery callback specialization when the DataWriter received discovery information from a remote DataReader
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void on_publication_matched(
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eprosima::fastdds::dds::DataWriter* writer,
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const eprosima::fastdds::dds::PublicationMatchedStatus& info) override;
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//! Publisher application thread
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void runThread(
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uint32_t number,
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uint32_t sleep);
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};
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#endif // _CONTENTFILTEREDTOPICEXAMPLEPUBLISHER_H_

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