add content-filtered-topic interfaces

rcl/include/rcl/subscription.h

@@ -55,10 +55,6 @@ typedef struct rcl_subscription_options_s
 
 typedef struct rcl_subscription_content_filter_options_s
 {
-  /// Custom allocator for the options, used for incidental allocations.
-  /** For default behavior (malloc/free), see: rcl_get_default_allocator() */
-  rcl_allocator_t allocator;
-  /// rmw specific subscription content filter options
   rmw_subscription_content_filter_options_t rmw_subscription_content_filter_options;
 } rcl_subscription_content_filter_options_t;
 
@@ -284,6 +280,7 @@ rcl_get_zero_initialized_subscription_content_filter_options(void);
  * Uses Atomics       | No
  * Lock-Free          | No
  *
+ * \param[in] subscription the handle to the subscription.
  * \param[in] filter_expression The filter expression is similar to the WHERE part of an SQL clause,
  * use empty ("") can reset (or clear) the content filter setting of a subscription.
  * \param[in] expression_parameters_argc The maximum of expression parameters argc is 100.
@@ -293,13 +290,15 @@ rcl_get_zero_initialized_subscription_content_filter_options(void);
  * It can be NULL if there is no "%n" tokens placeholder in filter_expression.
  * \param[out] options The subscription options to be set.
  * \return `RCL_RET_OK` if set options successfully, or
+ * \return `RCL_RET_SUBSCRIPTION_INVALID` if subscription is invalid, or
  * \return `RCL_RET_INVALID_ARGUMENT` if arguments invalid, or
  * \return `RCL_RET_BAD_ALLOC` if allocating memory fails.
  */
 RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_subscription_content_filter_options_init(
+  const rcl_subscription_t * subscription,
   const char * filter_expression,
   size_t expression_parameters_argc,
   const char * expression_parameter_argv[],
@@ -315,6 +314,7 @@ rcl_subscription_content_filter_options_init(
  * Uses Atomics       | No
  * Lock-Free          | No
  *
+ * \param[in] subscription the handle to the subscription.
  * \param[in] filter_expression The filter expression is similar to the WHERE part of an SQL clause,
  * use empty ("") can reset (or clear) the content filter setting of a subscription.
  * \param[in] expression_parameters_argc The maximum of expression parameters argc is 100.
@@ -324,13 +324,15 @@ rcl_subscription_content_filter_options_init(
  * It can be NULL if there is no "%n" tokens placeholder in filter_expression.
  * \param[out] options The subscription options to be set.
  * \return `RCL_RET_OK` if set options successfully, or
+ * \return `RCL_RET_SUBSCRIPTION_INVALID` if subscription is invalid, or
  * \return `RCL_RET_INVALID_ARGUMENT` if arguments invalid, or
  * \return `RCL_RET_BAD_ALLOC` if allocating memory fails.
  */
 RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_subscription_content_filter_options_set(
+  const rcl_subscription_t * subscription,
   const char * filter_expression,
   size_t expression_parameters_argc,
   const char * expression_parameter_argv[],
@@ -346,15 +348,18 @@ rcl_subscription_content_filter_options_set(
  * Uses Atomics       | No
  * Lock-Free          | No
  *
+ * \param[in] subscription the handle to the subscription.
  * \param[in] options The structure which its resources have to be deallocated.
  * \return `RCL_RET_OK` if the memory was successfully freed, or
+ * \return `RCL_RET_SUBSCRIPTION_INVALID` if subscription is invalid, or
  * \return `RCL_RET_INVALID_ARGUMENT` if option is NULL, or
  *  if its allocator is invalid and the structure contains initialized memory.
  */
 RCL_PUBLIC
 RCL_WARN_UNUSED
 rcl_ret_t
 rcl_subscription_content_filter_options_fini(
+  const rcl_subscription_t * subscription,
   rcl_subscription_content_filter_options_t * options);
 
 /// Check if the content filtered topic feature is enabled in the subscription.

rcl/src/rcl/subscription.c

@@ -278,7 +278,8 @@ rcl_subscription_options_set_content_filter_options(
     );
 
     if (rmw_ret != RMW_RET_OK) {
-      return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
+      ret = rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
+      goto failed;
     }
 
     allocator->deallocate(
@@ -298,21 +299,24 @@ rcl_subscription_content_filter_options_t
 rcl_get_zero_initialized_subscription_content_filter_options()
 {
   return (const rcl_subscription_content_filter_options_t) {
-           .allocator = rcl_get_default_allocator(),
            .rmw_subscription_content_filter_options =
              rmw_get_zero_initialized_content_filter_options()
   };  // NOLINT(readability/braces): false positive
 }
 
 rcl_ret_t
 rcl_subscription_content_filter_options_init(
+  const rcl_subscription_t * subscription,
   const char * filter_expression,
   size_t expression_parameters_argc,
   const char * expression_parameter_argv[],
   rcl_subscription_content_filter_options_t * options)
 {
+  if (!rcl_subscription_is_valid(subscription)) {
+    return RCL_RET_SUBSCRIPTION_INVALID;
+  }
   RCL_CHECK_ARGUMENT_FOR_NULL(options, RCL_RET_INVALID_ARGUMENT);
-  const rcl_allocator_t * allocator = &options->allocator;
+  const rcl_allocator_t * allocator = &subscription->impl->options.allocator;
   RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
   if (expression_parameters_argc > 100) {
     RCL_SET_ERROR_MSG("The maximum of expression parameters argument number is 100");
@@ -332,17 +336,21 @@ rcl_subscription_content_filter_options_init(
 
 rcl_ret_t
 rcl_subscription_content_filter_options_set(
+  const rcl_subscription_t * subscription,
   const char * filter_expression,
   size_t expression_parameters_argc,
   const char * expression_parameter_argv[],
   rcl_subscription_content_filter_options_t * options)
 {
+  if (!rcl_subscription_is_valid(subscription)) {
+    return RCL_RET_SUBSCRIPTION_INVALID;
+  }
   if (expression_parameters_argc > 100) {
     RCL_SET_ERROR_MSG("The maximum of expression parameters argument number is 100");
     return RCL_RET_INVALID_ARGUMENT;
   }
   RCL_CHECK_ARGUMENT_FOR_NULL(options, RCL_RET_INVALID_ARGUMENT);
-  const rcl_allocator_t * allocator = &options->allocator;
+  const rcl_allocator_t * allocator = &subscription->impl->options.allocator;
   RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
 
   rmw_ret_t ret = rmw_subscription_content_filter_options_set(
@@ -357,10 +365,14 @@ rcl_subscription_content_filter_options_set(
 
 rcl_ret_t
 rcl_subscription_content_filter_options_fini(
+  const rcl_subscription_t * subscription,
   rcl_subscription_content_filter_options_t * options)
 {
+  if (!rcl_subscription_is_valid(subscription)) {
+    return RCL_RET_SUBSCRIPTION_INVALID;
+  }
   RCL_CHECK_ARGUMENT_FOR_NULL(options, RCL_RET_INVALID_ARGUMENT);
-  const rcl_allocator_t * allocator = &options->allocator;
+  const rcl_allocator_t * allocator = &subscription->impl->options.allocator;
   RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
 
   rmw_ret_t ret = rmw_subscription_content_filter_options_fini(
@@ -427,12 +439,12 @@ rcl_subscription_get_content_filter(
     return RCL_RET_SUBSCRIPTION_INVALID;
   }
   RCL_CHECK_ARGUMENT_FOR_NULL(options, RCL_RET_INVALID_ARGUMENT);
-  const rcl_allocator_t * allocator = &options->allocator;
+  rcl_allocator_t * allocator = &subscription->impl->options.allocator;
   RCL_CHECK_ALLOCATOR_WITH_MSG(allocator, "invalid allocator", return RCL_RET_INVALID_ARGUMENT);
 
   rmw_ret_t rmw_ret = rmw_subscription_get_content_filter(
     subscription->impl->rmw_handle,
-    &options->allocator,
+    allocator,
     &options->rmw_subscription_content_filter_options);
 
   return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);

rcl/test/CMakeLists.txt

@@ -448,4 +448,5 @@ rcl_add_custom_gtest(test_subscription_content_filter_options
   SRCS rcl/test_subscription_content_filter_options.cpp
   APPEND_LIBRARY_DIRS ${extra_lib_dirs}
   LIBRARIES ${PROJECT_NAME}
+  AMENT_DEPENDENCIES "osrf_testing_tools_cpp" "test_msgs"
 )

rcl/test/rcl/test_subscription.cpp

@@ -991,6 +991,7 @@ TEST_F(
     EXPECT_EQ(
       RCL_RET_OK,
       rcl_subscription_content_filter_options_init(
+        &subscription,
         filter_expression2, expression_parameters2_count, expression_parameters2,
         &options)
     );
@@ -1008,7 +1009,7 @@ TEST_F(
     EXPECT_EQ(
       RCL_RET_OK,
       rcl_subscription_content_filter_options_fini(
-        &options)
+        &subscription, &options)
     );
   }
 
@@ -1088,6 +1089,7 @@ TEST_F(
       EXPECT_EQ(
         RCL_RET_OK,
         rcl_subscription_content_filter_options_fini(
+          &subscription,
           &content_filter_options)
       );
     } else {
@@ -1103,6 +1105,7 @@ TEST_F(
     EXPECT_EQ(
       RCL_RET_OK,
       rcl_subscription_content_filter_options_init(
+        &subscription,
         "", 0, nullptr,
         &options)
     );
@@ -1122,7 +1125,7 @@ TEST_F(
     EXPECT_EQ(
       RCL_RET_OK,
       rcl_subscription_content_filter_options_fini(
-        &options)
+        &subscription, &options)
     );
   }
 
@@ -1233,6 +1236,7 @@ TEST_F(
     EXPECT_EQ(
       RCL_RET_OK,
       rcl_subscription_content_filter_options_init(
+        &subscription,
         filter_expression2, expression_parameters2_count, expression_parameters2,
         &options)
     );
@@ -1250,7 +1254,7 @@ TEST_F(
     EXPECT_EQ(
       RCL_RET_OK,
       rcl_subscription_content_filter_options_fini(
-        &options)
+        &subscription, &options)
     );
   }
 
@@ -1590,6 +1594,7 @@ TEST_F(
   EXPECT_EQ(
     RCL_RET_OK,
     rcl_subscription_content_filter_options_init(
+      &subscription,
       "data = '0'",
       0,
       nullptr,
@@ -1600,7 +1605,7 @@ TEST_F(
   {
     EXPECT_EQ(
       RCL_RET_OK,
-      rcl_subscription_content_filter_options_fini(&options)
+      rcl_subscription_content_filter_options_fini(&subscription, &options)
     );
   });