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ContentFilteredTopic Support #706

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ContentFilteredTopic Support #706

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9 changes: 9 additions & 0 deletions rcl/include/rcl/subscription.h
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Original file line number Diff line number Diff line change
Expand Up @@ -603,6 +603,15 @@ RCL_PUBLIC
bool
rcl_subscription_can_loan_messages(const rcl_subscription_t * subscription);

/// Check if subscription instance support ContentFilteredTopic.
/**
* Depending on the middleware.
* this will return true if the middleware can support ContentFilteredTopic.
*/
RCL_PUBLIC
bool
rcl_subscription_is_cft_supported(const rcl_subscription_t * subscription);

#ifdef __cplusplus
}
#endif
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9 changes: 9 additions & 0 deletions rcl/src/rcl/subscription.c
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Expand Up @@ -494,6 +494,15 @@ rcl_subscription_can_loan_messages(const rcl_subscription_t * subscription)
return subscription->impl->rmw_handle->can_loan_messages;
}

bool
rcl_subscription_is_cft_supported(const rcl_subscription_t * subscription)
{
if (!rcl_subscription_is_valid(subscription)) {
return false; // error message already set
}
return subscription->impl->rmw_handle->is_cft_supported;
}

#ifdef __cplusplus
}
#endif
4 changes: 4 additions & 0 deletions rcl/test/rcl/test_subscription.cpp
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Expand Up @@ -727,6 +727,8 @@ TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_subscrip
rcl_reset_error();
EXPECT_FALSE(rcl_subscription_can_loan_messages(nullptr));
rcl_reset_error();
EXPECT_FALSE(rcl_subscription_is_cft_supported(nullptr));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_rmw_handle(nullptr));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_topic_name(nullptr));
Expand All @@ -742,6 +744,8 @@ TEST_F(CLASSNAME(TestSubscriptionFixtureInit, RMW_IMPLEMENTATION), test_subscrip
rcl_reset_error();
EXPECT_FALSE(rcl_subscription_can_loan_messages(&subscription_zero_init));
rcl_reset_error();
EXPECT_FALSE(rcl_subscription_is_cft_supported(&subscription_zero_init));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_rmw_handle(&subscription_zero_init));
rcl_reset_error();
EXPECT_EQ(NULL, rcl_subscription_get_topic_name(&subscription_zero_init));
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