A fallback to support content filters in rcl

CONTRIBUTING.md

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README.md

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+# rcl_content_filter_fallback
+
+This repository contains packages to support content filter fallback used in rcl.
+
+ - [rcl_content_filter_fallback](rcl_content_filter_fallback/README.md)
+
+ - [tao_pegtl_vendor](tao_pegtl_vendor/README.md)
+
+ - [test_content_filter_msgs](test_content_filter_msgs/README.md)

rcl_content_filter_fallback/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+
+project(rcl_content_filter_fallback)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rcutils REQUIRED)
+find_package(rcpputils REQUIRED)
+find_package(rmw REQUIRED)
+find_package(rmw_implementation REQUIRED)
+find_package(rosidl_typesupport_introspection_c REQUIRED)
+find_package(rosidl_typesupport_introspection_cpp REQUIRED)
+find_package(tao_pegtl_vendor REQUIRED)
+find_package(pegtl REQUIRED)
+
+add_library(${PROJECT_NAME} SHARED
+  src/FilterCompoundCondition.cpp
+  src/FilterExpression.cpp
+  src/FilterExpressionParser.cpp
+  src/FilterFactory.cpp
+  src/FilterField.cpp
+  src/FilterParameter.cpp
+  src/FilterPredicate.cpp
+  src/FilterValue.cpp
+  src/Utilities.cpp
+  src/rcl_content_filter_fallback.cpp)
+
+set_target_properties(${PROJECT_NAME}
+  PROPERTIES OUTPUT_NAME ${PROJECT_NAME})
+
+target_include_directories(${PROJECT_NAME}
+  PUBLIC
+  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+
+target_link_libraries(${PROJECT_NAME} PUBLIC
+  ament_index_cpp::ament_index_cpp
+  rcpputils::rcpputils
+  rcutils::rcutils
+  rmw::rmw
+  rmw_implementation::rmw_implementation
+  rosidl_typesupport_introspection_c::rosidl_typesupport_introspection_c
+  rosidl_typesupport_introspection_cpp::rosidl_typesupport_introspection_cpp
+)
+
+target_link_libraries(${PROJECT_NAME} PRIVATE
+  taocpp::pegtl
+)
+
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(${PROJECT_NAME}
+  PRIVATE "RCL_CONTENT_FILTER_FALLBACK_BUILDING_LIBRARY")
+
+install(
+  TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+# Export old-style CMake variables
+ament_export_include_directories("include/${PROJECT_NAME}")
+ament_export_libraries(${PROJECT_NAME})
+
+# Export modern CMake targets
+ament_export_targets(${PROJECT_NAME})
+
+ament_export_dependencies(ament_cmake_core)
+ament_export_dependencies(rcpputils)
+ament_export_dependencies(rcutils)
+ament_export_dependencies(rmw)
+ament_export_dependencies(rmw_implementation)
+ament_export_dependencies(rosidl_typesupport_introspection_c)
+ament_export_dependencies(rosidl_typesupport_introspection_cpp)
+ament_export_dependencies(tao_pegtl_vendor)
+
+install(
+  DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(ament_lint_auto REQUIRED)
+  find_package(test_content_filter_msgs REQUIRED)
+  find_package(test_msgs REQUIRED)
+  find_package(osrf_testing_tools_cpp REQUIRED)
+
+  file(GLOB_RECURSE EXCLUDE_FILES
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/FilterExpressionParserImpl/*.hpp)
+  set(ament_cmake_cpplint_ADDITIONAL_EXCLUDE ${EXCLUDE_FILES})
+  ament_lint_auto_find_test_dependencies()
+
+  ament_add_gtest(test_api test/test_api.cpp)
+  target_link_libraries(test_api ${PROJECT_NAME})
+  ament_target_dependencies(
+    test_api test_content_filter_msgs test_msgs osrf_testing_tools_cpp)
+endif()
+
+ament_package()

rcl_content_filter_fallback/README.md

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+# rcl_content_filter_fallback
+To support the content topic filter (a CFT fallback on the DDS) in the reader side used in rcl.