call rcl content filter fallback

rcl/CMakeLists.txt

@@ -12,6 +12,7 @@ find_package(rmw REQUIRED)
 find_package(rmw_implementation REQUIRED)
 find_package(rosidl_runtime_c REQUIRED)
 find_package(tracetools REQUIRED)
+find_package(common_content_filter REQUIRED)
 
 include(cmake/rcl_set_symbol_visibility_hidden.cmake)
 include(cmake/get_default_rcl_logging_implementation.cmake)
@@ -81,6 +82,7 @@ ament_target_dependencies(${PROJECT_NAME}
   ${RCL_LOGGING_IMPL}
   "rosidl_runtime_c"
   "tracetools"
+  "common_content_filter"
 )
 
 # Causes the visibility macros to use dllexport rather than dllimport,
@@ -121,6 +123,7 @@ ament_export_dependencies(rcutils)
 ament_export_dependencies(${RCL_LOGGING_IMPL})
 ament_export_dependencies(rosidl_runtime_c)
 ament_export_dependencies(tracetools)
+ament_export_dependencies(common_content_filter)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

rcl/package.xml

@@ -23,6 +23,7 @@
   <depend>rmw_implementation</depend>
   <depend>rosidl_runtime_c</depend>
   <depend>tracetools</depend>
+  <depend>common_content_filter</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_lint_auto</test_depend>

rcl/src/rcl/subscription.c

@@ -21,6 +21,8 @@ extern "C"
 
 #include <stdio.h>
 
+#include "common_content_filter/api.h"
+
 #include "rcl/error_handling.h"
 #include "rcl/node.h"
 #include "rcutils/logging_macros.h"
@@ -42,6 +44,54 @@ rcl_get_zero_initialized_subscription()
   return null_subscription;
 }
 
+static
+bool
+rcl_subscription_common_content_filter_set(
+  const rcl_subscription_t * subscription,
+  const rmw_subscription_content_filter_options_t * options)
+{
+  if (!subscription->impl->common_content_filter) {
+    subscription->impl->common_content_filter =
+      common_content_filter_create(subscription->impl->type_support);
+    if (!subscription->impl->common_content_filter) {
+      RCL_SET_ERROR_MSG("Failed to create common content filter");
+      return false;
+    }
+    RCUTILS_LOG_DEBUG_NAMED(
+      ROS_PACKAGE_NAME, "common content filter is created for topic '%s'",
+      rcl_subscription_get_topic_name(subscription));
+  }
+
+  if (!common_content_filter_set(
+      subscription->impl->common_content_filter,
+      options))
+  {
+    RCL_SET_ERROR_MSG("Failed to set common content filter");
+    return false;
+  }
+
+  return true;
+}
+
+static
+bool
+rcl_subscription_common_content_filter_is_relevant(
+  const rcl_subscription_t * subscription,
+  void * data,
+  bool serialized)
+{
+  if (subscription->impl->common_content_filter &&
+    common_content_filter_is_enabled(subscription->impl->common_content_filter))
+  {
+    return common_content_filter_evaluate(
+      subscription->impl->common_content_filter,
+      data,
+      serialized);
+  }
+
+  return true;
+}
+
 rcl_ret_t
 rcl_subscription_init(
   rcl_subscription_t * subscription,
@@ -120,6 +170,22 @@ rcl_subscription_init(
     options->qos.avoid_ros_namespace_conventions;
   // options
   subscription->impl->options = *options;
+  subscription->impl->type_support = type_support;
+
+  if (options->rmw_subscription_options.content_filter_options) {
+    // Content filter topic not supported (or not enabled as some failed cases) on DDS.
+    // TODO(iuhilnehc-ynos): enable common content filter with an environment variable
+    // (e.g. FORCE_COMMON_CONTENT_FILTER) regardless of whether cft is enabled on DDS.
+    if (!subscription->impl->rmw_handle->is_cft_enabled) {
+      if (!rcl_subscription_common_content_filter_set(
+          subscription,
+          options->rmw_subscription_options.content_filter_options))
+      {
+        goto fail;
+      }
+    }
+  }
+
   RCUTILS_LOG_DEBUG_NAMED(ROS_PACKAGE_NAME, "Subscription initialized");
   ret = RCL_RET_OK;
   TRACEPOINT(
@@ -147,6 +213,10 @@ rcl_subscription_init(
       RCUTILS_SAFE_FWRITE_TO_STDERR("\n");
     }
 
+    if (subscription->impl->common_content_filter) {
+      common_content_filter_destroy(subscription->impl->common_content_filter);
+    }
+
     allocator->deallocate(subscription->impl, allocator->state);
     subscription->impl = NULL;
   }
@@ -190,6 +260,10 @@ rcl_subscription_fini(rcl_subscription_t * subscription, rcl_node_t * node)
       result = RCL_RET_ERROR;
     }
 
+    if (subscription->impl->common_content_filter) {
+      common_content_filter_destroy(subscription->impl->common_content_filter);
+    }
+
     allocator.deallocate(subscription->impl, allocator.state);
     subscription->impl = NULL;
   }
@@ -432,7 +506,9 @@ rcl_subscription_is_cft_enabled(const rcl_subscription_t * subscription)
   if (!rcl_subscription_is_valid(subscription)) {
     return false;
   }
-  return subscription->impl->rmw_handle->is_cft_enabled;
+  return subscription->impl->rmw_handle->is_cft_enabled ||
+         (subscription->impl->common_content_filter &&
+         common_content_filter_is_enabled(subscription->impl->common_content_filter));
 }
 
 rcl_ret_t
@@ -454,8 +530,13 @@ rcl_subscription_set_content_filter(
     &options->rmw_subscription_content_filter_options);
 
   if (ret != RMW_RET_OK) {
-    RCL_SET_ERROR_MSG(rmw_get_error_string().str);
-    return rcl_convert_rmw_ret_to_rcl_ret(ret);
+    rcl_reset_error();
+    if (!rcl_subscription_common_content_filter_set(
+        subscription,
+        &options->rmw_subscription_content_filter_options))
+    {
+      return RMW_RET_ERROR;
+    }
   }
 
   // copy options into subscription_options
@@ -489,8 +570,19 @@ rcl_subscription_get_content_filter(
     subscription->impl->rmw_handle,
     allocator,
     &options->rmw_subscription_content_filter_options);
-
-  return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
+  // If options can be get from DDS, it's unnecessary to get them from common content filter.
+  if (rmw_ret != RMW_RET_OK) {
+    rcl_reset_error();
+    if (!common_content_filter_get(
+        subscription->impl->common_content_filter,
+        allocator,
+        &options->rmw_subscription_content_filter_options))
+    {
+      RCL_SET_ERROR_MSG("Failed to get content filter");
+      return RMW_RET_ERROR;
+    }
+  }
+  return RMW_RET_OK;
 }
 
 rcl_ret_t
@@ -525,6 +617,16 @@ rcl_take(
   if (!taken) {
     return RCL_RET_SUBSCRIPTION_TAKE_FAILED;
   }
+
+  // filter ros message with common content filter
+  if (!rcl_subscription_common_content_filter_is_relevant(
+      subscription,
+      ros_message,
+      false))
+  {
+    return RCL_RET_SUBSCRIPTION_TAKE_FAILED;
+  }
+
   return RCL_RET_OK;
 }
 
@@ -604,6 +706,16 @@ rcl_take_serialized_message(
   if (!taken) {
     return RCL_RET_SUBSCRIPTION_TAKE_FAILED;
   }
+
+  // filter ros message with common content filter
+  if (!rcl_subscription_common_content_filter_is_relevant(
+      subscription,
+      serialized_message,
+      true))
+  {
+    return RCL_RET_SUBSCRIPTION_TAKE_FAILED;
+  }
+
   return RCL_RET_OK;
 }
 
@@ -640,6 +752,16 @@ rcl_take_loaned_message(
   if (!taken) {
     return RCL_RET_SUBSCRIPTION_TAKE_FAILED;
   }
+
+  // filter ros message with common content filter
+  if (!rcl_subscription_common_content_filter_is_relevant(
+      subscription,
+      *loaned_message,
+      false))
+  {
+    return RCL_RET_SUBSCRIPTION_TAKE_FAILED;
+  }
+
   return RCL_RET_OK;
 }
 

rcl/src/rcl/subscription_impl.h

@@ -18,12 +18,15 @@
 #include "rmw/rmw.h"
 
 #include "rcl/subscription.h"
+#include "rosidl_runtime_c/message_type_support_struct.h"
 
 struct rcl_subscription_impl_s
 {
   rcl_subscription_options_t options;
   rmw_qos_profile_t actual_qos;
   rmw_subscription_t * rmw_handle;
+  void * common_content_filter;
+  const rosidl_message_type_support_t * type_support;
 };
 
 #endif  // RCL__SUBSCRIPTION_IMPL_H_