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remove DEFINE_CONTENT_FILTER cmake option #1914

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merged 2 commits into from
Apr 11, 2022
Merged

remove DEFINE_CONTENT_FILTER cmake option #1914

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d979439
remove DEFINE_CONTENT_FILTER cmake option
Apr 7, 2022
881fcfc
remove the macro CONTENT_FILTER_ENABLE as well
Apr 8, 2022
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5 changes: 0 additions & 5 deletions rclcpp/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,11 +2,6 @@ cmake_minimum_required(VERSION 3.12)

project(rclcpp)

option(DEFINE_CONTENT_FILTER "Content filter feature support" ON)
if(DEFINE_CONTENT_FILTER)
add_definitions(-DCONTENT_FILTER_ENABLE)
endif()

find_package(Threads REQUIRED)

find_package(ament_cmake_ros REQUIRED)
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2 changes: 0 additions & 2 deletions rclcpp/include/rclcpp/subscription_base.hpp
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Expand Up @@ -492,7 +492,6 @@ class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
event_handlers_[event_type]->clear_on_ready_callback();
}

#ifdef CONTENT_FILTER_ENABLE
/// Check if content filtered topic feature of the subscription instance is enabled.
/**
* \return boolean flag indicating if the content filtered topic of this subscription is enabled.
Expand Down Expand Up @@ -526,7 +525,6 @@ class SubscriptionBase : public std::enable_shared_from_this<SubscriptionBase>
RCLCPP_PUBLIC
rclcpp::ContentFilterOptions
get_content_filter() const;
#endif // CONTENT_FILTER_ENABLE

protected:
template<typename EventCallbackT>
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3 changes: 1 addition & 2 deletions rclcpp/include/rclcpp/subscription_options.hpp
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Expand Up @@ -126,7 +126,6 @@ struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
rmw_implementation_payload->modify_rmw_subscription_options(result.rmw_subscription_options);
}

#ifdef CONTENT_FILTER_ENABLE
// Copy content_filter_options into rcl_subscription_options.
if (!content_filter_options.filter_expression.empty()) {
std::vector<const char *> cstrings =
Expand All @@ -141,7 +140,7 @@ struct SubscriptionOptionsWithAllocator : public SubscriptionOptionsBase
ret, "failed to set content_filter_options");
}
}
#endif // CONTENT_FILTER_ENABLE

return result;
}

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2 changes: 0 additions & 2 deletions rclcpp/src/rclcpp/subscription_base.cpp
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Expand Up @@ -357,7 +357,6 @@ SubscriptionBase::set_on_new_message_callback(
}
}

#ifdef CONTENT_FILTER_ENABLE
bool
SubscriptionBase::is_cft_enabled() const
{
Expand Down Expand Up @@ -445,4 +444,3 @@ SubscriptionBase::get_content_filter() const

return ret_options;
}
#endif // CONTENT_FILTER_ENABLE
34 changes: 16 additions & 18 deletions rclcpp/test/rclcpp/CMakeLists.txt
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Expand Up @@ -734,22 +734,20 @@ if(TARGET test_graph_listener)
target_link_libraries(test_graph_listener ${PROJECT_NAME} mimick)
endif()

if(DEFINE_CONTENT_FILTER)
function(test_subscription_content_filter_for_rmw_implementation)
set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})
ament_add_gmock(test_subscription_content_filter${target_suffix}
test_subscription_content_filter.cpp
ENV ${rmw_implementation_env_var}
TIMEOUT 120
function(test_subscription_content_filter_for_rmw_implementation)
set(rmw_implementation_env_var RMW_IMPLEMENTATION=${rmw_implementation})
ament_add_gmock(test_subscription_content_filter${target_suffix}
test_subscription_content_filter.cpp
ENV ${rmw_implementation_env_var}
TIMEOUT 120
)
if(TARGET test_subscription_content_filter${target_suffix})
target_link_libraries(test_subscription_content_filter${target_suffix} ${PROJECT_NAME} mimick)
ament_target_dependencies(test_subscription_content_filter${target_suffix}
"rcpputils"
"rosidl_typesupport_cpp"
"test_msgs"
)
if(TARGET test_subscription_content_filter${target_suffix})
target_link_libraries(test_subscription_content_filter${target_suffix} ${PROJECT_NAME} mimick)
ament_target_dependencies(test_subscription_content_filter${target_suffix}
"rcpputils"
"rosidl_typesupport_cpp"
"test_msgs"
)
endif()
endfunction()
call_for_each_rmw_implementation(test_subscription_content_filter_for_rmw_implementation)
endif()
endif()
endfunction()
call_for_each_rmw_implementation(test_subscription_content_filter_for_rmw_implementation)