From 614e6f669aebe449c2379adf8b3d015621e4b073 Mon Sep 17 00:00:00 2001 From: Chen Lihui Date: Tue, 26 Oct 2021 14:24:59 +0800 Subject: [PATCH] rename Signed-off-by: Chen Lihui --- rclcpp/include/rclcpp/subscription_base.hpp | 4 +- .../include/rclcpp/subscription_options.hpp | 4 +- rclcpp/src/rclcpp/subscription_base.cpp | 38 +++++++++---------- rclcpp/test/rclcpp/CMakeLists.txt | 8 ++-- ...p => test_subscription_content_filter.cpp} | 12 +++--- 5 files changed, 33 insertions(+), 33 deletions(-) rename rclcpp/test/rclcpp/{test_subscription_content_filtered_topic.cpp => test_subscription_content_filter.cpp} (84%) diff --git a/rclcpp/include/rclcpp/subscription_base.hpp b/rclcpp/include/rclcpp/subscription_base.hpp index e2ec5fde7d..a83f1f3334 100644 --- a/rclcpp/include/rclcpp/subscription_base.hpp +++ b/rclcpp/include/rclcpp/subscription_base.hpp @@ -303,7 +303,7 @@ class SubscriptionBase : public std::enable_shared_from_this RCLCPP_PUBLIC virtual void - set_cft_expression_parameters( + set_content_filter( const std::string & filter_expression, const std::vector & expression_parameters = {}); @@ -317,7 +317,7 @@ class SubscriptionBase : public std::enable_shared_from_this RCLCPP_PUBLIC virtual void - get_cft_expression_parameters( + get_content_filter( std::string & filter_expression, std::vector & expression_parameters) const; diff --git a/rclcpp/include/rclcpp/subscription_options.hpp b/rclcpp/include/rclcpp/subscription_options.hpp index 8c23aacc99..e44704c7b0 100644 --- a/rclcpp/include/rclcpp/subscription_options.hpp +++ b/rclcpp/include/rclcpp/subscription_options.hpp @@ -141,14 +141,14 @@ struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase if (!content_filter_options.filter_expression.empty()) { std::vector cstrings = get_c_vector_string(content_filter_options.expression_parameters); - rcl_ret_t ret = rcl_subscription_options_set_content_filtered_topic_options( + rcl_ret_t ret = rcl_subscription_options_set_content_filter_options( get_c_string(content_filter_options.filter_expression), cstrings.size(), cstrings.data(), &result); if (RCL_RET_OK != ret) { rclcpp::exceptions::throw_from_rcl_error( - ret, "failed to set content_filtered_topic_options"); + ret, "failed to set content_filter_options"); } } diff --git a/rclcpp/src/rclcpp/subscription_base.cpp b/rclcpp/src/rclcpp/subscription_base.cpp index 5b12bd50fe..29554fcd43 100644 --- a/rclcpp/src/rclcpp/subscription_base.cpp +++ b/rclcpp/src/rclcpp/subscription_base.cpp @@ -336,16 +336,16 @@ SubscriptionBase::is_cft_enabled() const } void -SubscriptionBase::set_cft_expression_parameters( +SubscriptionBase::set_content_filter( const std::string & filter_expression, const std::vector & expression_parameters) { - rcl_subscription_content_filtered_topic_options_t options = - rcl_subscription_get_default_content_filtered_topic_options(); + rcl_subscription_content_filter_options_t options = + rcl_subscription_get_default_content_filter_options(); std::vector cstrings = get_c_vector_string(expression_parameters); - rcl_ret_t ret = rcl_subscription_content_filtered_topic_options_init( + rcl_ret_t ret = rcl_subscription_content_filter_options_init( get_c_string(filter_expression), cstrings.size(), cstrings.data(), @@ -356,7 +356,7 @@ SubscriptionBase::set_cft_expression_parameters( } RCPPUTILS_SCOPE_EXIT( { - rcl_ret_t ret = rcl_subscription_content_filtered_topic_options_fini(&options); + rcl_ret_t ret = rcl_subscription_content_filter_options_fini(&options); if (RCL_RET_OK != ret) { RCLCPP_ERROR( rclcpp::get_logger("rclcpp"), @@ -366,7 +366,7 @@ SubscriptionBase::set_cft_expression_parameters( } }); - ret = rcl_subscription_set_cft_expression_parameters( + ret = rcl_subscription_set_content_filter( subscription_handle_.get(), &options); @@ -376,15 +376,15 @@ SubscriptionBase::set_cft_expression_parameters( } void -SubscriptionBase::get_cft_expression_parameters( +SubscriptionBase::get_content_filter( std::string & filter_expression, std::vector & expression_parameters) const { - rcl_subscription_content_filtered_topic_options_t options = - rcl_subscription_get_default_content_filtered_topic_options(); + rcl_subscription_content_filter_options_t options = + rcl_subscription_get_default_content_filter_options(); - // use rcl_content_filtered_topic_options_t instead of char * and - rcl_ret_t ret = rcl_subscription_get_cft_expression_parameters( + // use rcl_content_filter_options_t instead of char * and + rcl_ret_t ret = rcl_subscription_get_content_filter( subscription_handle_.get(), &options); @@ -394,7 +394,7 @@ SubscriptionBase::get_cft_expression_parameters( RCPPUTILS_SCOPE_EXIT( { - rcl_ret_t ret = rcl_subscription_content_filtered_topic_options_fini(&options); + rcl_ret_t ret = rcl_subscription_content_filter_options_fini(&options); if (RCL_RET_OK != ret) { RCLCPP_ERROR( rclcpp::get_logger("rclcpp"), @@ -404,16 +404,16 @@ SubscriptionBase::get_cft_expression_parameters( } }); - rmw_subscription_content_filtered_topic_options_t * content_filtered_topic_options = - options.rmw_subscription_content_filtered_topic_options; - if (content_filtered_topic_options->filter_expression) { - filter_expression = content_filtered_topic_options->filter_expression; + rmw_subscription_content_filter_options_t * content_filter_options = + options.rmw_subscription_content_filter_options; + if (content_filter_options->filter_expression) { + filter_expression = content_filter_options->filter_expression; } - if (content_filtered_topic_options->expression_parameters) { - for (size_t i = 0; i < content_filtered_topic_options->expression_parameters->size; ++i) { + if (content_filter_options->expression_parameters) { + for (size_t i = 0; i < content_filter_options->expression_parameters->size; ++i) { expression_parameters.push_back( - content_filtered_topic_options->expression_parameters->data[i]); + content_filter_options->expression_parameters->data[i]); } } } diff --git a/rclcpp/test/rclcpp/CMakeLists.txt b/rclcpp/test/rclcpp/CMakeLists.txt index ef5476a0f8..d00b5f3ab2 100644 --- a/rclcpp/test/rclcpp/CMakeLists.txt +++ b/rclcpp/test/rclcpp/CMakeLists.txt @@ -740,14 +740,14 @@ if(TARGET test_graph_listener) target_link_libraries(test_graph_listener ${PROJECT_NAME} mimick) endif() -ament_add_gtest(test_subscription_content_filtered_topic test_subscription_content_filtered_topic.cpp) -if(TARGET test_subscription_content_filtered_topic) - ament_target_dependencies(test_subscription_content_filtered_topic +ament_add_gtest(test_subscription_content_filter test_subscription_content_filter.cpp) +if(TARGET test_subscription_content_filter) + ament_target_dependencies(test_subscription_content_filter "rcl_interfaces" "rmw" "rosidl_runtime_cpp" "rosidl_typesupport_cpp" "test_msgs" ) - target_link_libraries(test_subscription_content_filtered_topic ${PROJECT_NAME} mimick) + target_link_libraries(test_subscription_content_filter ${PROJECT_NAME} mimick) endif() diff --git a/rclcpp/test/rclcpp/test_subscription_content_filtered_topic.cpp b/rclcpp/test/rclcpp/test_subscription_content_filter.cpp similarity index 84% rename from rclcpp/test/rclcpp/test_subscription_content_filtered_topic.cpp rename to rclcpp/test/rclcpp/test_subscription_content_filter.cpp index 3ed2df96a6..01da0a8f2d 100644 --- a/rclcpp/test/rclcpp/test_subscription_content_filtered_topic.cpp +++ b/rclcpp/test/rclcpp/test_subscription_content_filter.cpp @@ -81,24 +81,24 @@ TEST_F(TestCftSubscription, is_cft_enabled) { } } -TEST_F(TestCftSubscription, get_cft_expression_parameters_error) { +TEST_F(TestCftSubscription, get_content_filter_error) { auto mock = mocking_utils::patch_and_return( - "lib:rclcpp", rcl_subscription_get_cft_expression_parameters, RCL_RET_ERROR); + "lib:rclcpp", rcl_subscription_get_content_filter, RCL_RET_ERROR); std::string filter_expression; std::vector expression_parameters; EXPECT_THROW( - sub->get_cft_expression_parameters(filter_expression, expression_parameters), + sub->get_content_filter(filter_expression, expression_parameters), rclcpp::exceptions::RCLError); } -TEST_F(TestCftSubscription, set_cft_expression_parameters_error) { +TEST_F(TestCftSubscription, set_content_filter_error) { auto mock = mocking_utils::patch_and_return( - "lib:rclcpp", rcl_subscription_set_cft_expression_parameters, RCL_RET_ERROR); + "lib:rclcpp", rcl_subscription_set_content_filter, RCL_RET_ERROR); std::string filter_expression = "int32_value = %0"; std::string expression_parameter = "100"; EXPECT_THROW( - sub->set_cft_expression_parameters(filter_expression, {expression_parameter}), + sub->set_content_filter(filter_expression, {expression_parameter}), rclcpp::exceptions::RCLError); }