[#23686] Support "partitions" in DDS-spy

docs/rst/appendixes/glossary.rst

@@ -90,3 +90,10 @@ DDS nomenclature
 
         See `Fast DDS documentation <https://fast-dds.docs.eprosima.com/en/v2.4.1/fastdds/dds_layer/topic/topic.html>`__
         for further information.
+
+    Partition
+        Logical domain that helps organize communication between publishers and subscribers.
+        Each Partition is uniquely identified by a name.
+
+        See `Fast DDS documentation <https://fast-dds.docs.eprosima.com/en/v2.10.1/fastdds/dds_layer/domain/domainParticipant/partition.html>`__
+        for further information.

docs/rst/user_manual/commands/commands.rst

@@ -35,6 +35,16 @@ This commands show user data being received by the application in real time.
 
    /rst/user_manual/commands/data.rst
 
+Filter commands
+===============
+
+This command enables the user to filter the information observed by the application.
+
+.. toctree::
+   :maxdepth: 2
+
+   /rst/user_manual/commands/filter.rst
+
 Extra commands
 ==============
 
@@ -105,6 +115,17 @@ Summary
         - ``topic`` ``topics`` |br|
           ``t`` ``T``
 
+    *   - :ref:`user_manual_command_filter`
+        - Filter related commands
+        - ``set`` |br|
+          ``add`` |br|
+          ``remove`` |br|
+          ``clear`` |br|
+          ``<category>`` |br|
+          ``<filter_str>`` |br|
+        - ``filter`` ``filters`` |br|
+          ``f`` ``F``
+
     *   - :ref:`user_manual_command_echo`
         - Show real-time receiving user data.
         - ``<topic name>`` |br|

docs/rst/user_manual/commands/filter.rst

@@ -0,0 +1,169 @@
+.. include:: ../../exports/alias.include
+.. include:: ../../exports/roles.include
+
+.. _user_manual_command_filter:
+
+######
+Filter
+######
+
+**Filter** is a command that adds filters
+
+retrieves information of the :term:`Topics <Topic>` with at least one endpoint currently active in the network.
+
+Key-words
+=========
+
+These are the key-words recognize as this command:
+``filter`` ``filters`` ``f`` ``F``.
+
+Arguments
+=========
+
+**Filter** command supports from 0 to 3 arguments:
+
+*No argument*
+-------------
+
+When no arguments are given to this command, the information shown is a **list** with all the list of filters
+added during runtime.
+
+The information shown is divided into lists, one for each category added at runtime.
+For each list, the added filters are displayed.
+
+The output format is as follows: :ref:`user_manual_command_filter_output`.
+
+*1 argument:* `<clear/remove>`
+------------------------------
+
+- clear: This argument clear all the list of categories added to the filters.
+- remove: This argument delete all the list of categories added to the filters.
+
+*2 argument:* `<clear/remove> <category>`
+-----------------------------------------
+
+- clear: This argument clear the list "category" added to the filters.
+- remove: This argument delete the list "category" from the filters.
+
+*3 argument:* `<clear/remove> <category> <filter_str>`
+------------------------------------------------------
+
+- set: This argument create the `category` filter list with `filter_str` as first element.
+- add: This argument add `filter_str` to `category` filter list.
+- remove: This argument delete `filter_str` from `category` filter list.
+
+.. _user_manual_command_filter_output:
+
+Output Format
+=============
+
+The filters information is retrieved with the following format:
+
+.. code-block:: yaml
+
+  Filter lists (1)
+
+    category_1 (2):
+      - filter_str_1
+      - filter_str_2
+
+    category_2 (2):
+      - filter_str_1
+
+Example
+=======
+
+Let's assume we have a DDS network where a ShapesDemo applications is running with
+the following 2 DataWriters:
+- Circle (partition A)
+- Square (partitions B and C).
+
+This would be the expected output for the following commands:
+
+- ``filter set partitions A``:
+
+Nothing, the category "partitions" is created with filter "A" as first element.
+
+- ``filters``:
+
+.. code-block::
+
+    Filter lists (1)
+
+    partitions (1):
+      - A
+
+- ``topics vv``:
+
+.. code-block::
+
+    - name: Circle
+    type: ShapeType
+    datawriters:
+      - 01.0f.72.e4.86.f3.9b.a0.00.00.00.00|0.0.6.2 [A]
+    rate: 12.5391 Hz
+    dynamic_type_discovered: true
+
+
+- ``filters add partitions B``:
+
+Nothing, the filter "B" is added to the category "partitions".
+
+- ``filters``:
+
+.. code-block::
+
+    Filter lists (1)
+
+    partitions (2):
+      - A
+      - B
+
+- ``topics vv``:
+
+.. code-block::
+
+    - name: Circle
+      type: ShapeType
+      datawriters:
+        - 01.0f.72.e4.86.f3.9b.a0.00.00.00.00|0.0.6.2 [A]
+      rate: 12.5391 Hz
+      dynamic_type_discovered: true
+    - name: Square
+      type: ShapeType
+      datawriters:
+        - 01.0f.72.e4.86.f3.9b.a0.00.00.00.00|0.0.7.2 [B|C]
+      rate: 12.5391 Hz
+      dynamic_type_discovered: true
+
+- ``filters remove partitions B``:
+
+Nothing, the filter "B" is removed from the category "partitions".
+
+- ``topics vv``:
+
+.. code-block::
+
+    - name: Circle
+    type: ShapeType
+    datawriters:
+      - 01.0f.72.e4.86.f3.9b.a0.00.00.00.00|0.0.6.2 [A]
+    rate: 12.5391 Hz
+    dynamic_type_discovered: true
+
+- ``filters``:
+
+.. code-block::
+
+    Filter lists (1)
+
+    partitions (1):
+      - A
+
+- ``filter clear``:
+
+- ``filters``:
+
+.. code-block::
+
+    Filter lists (0)

docs/rst/user_manual/commands/topic.rst

@@ -93,10 +93,10 @@ It adds the Guid of each endpoint on the topic and the whether the type has been
     name: <topic name>
     type: <data type name>
     datawriters:
-        - <Guid>
+        - <Guid> [<partitions>]
         - ...
     datareaders:
-        - <Guid>
+        - <Guid> [<partitions>]
         - ...
     rate: <samples per second> Hz
     dynamic_type_discovered: <bool>
@@ -108,39 +108,46 @@ Let's assume we have a DDS network where 2 ShapesDemo applications are running.
 
 This would be the expected output for the command ``topics``:
 
+.. code-block::
+
+    - topic: Circle (ShapeType) (1|1) [13.0298 Hz]
+    - topic: Square (ShapeType) (2|2) [26.6975 Hz]
+
+This would be the expected output for the command ``topics v``:
+
 .. code-block::
 
     - name: Circle
       type: ShapeType
-      datawriters: 2
-      datareaders: 2
+      datawriters: 1
+      datareaders: 1
       rate: 13.0298 Hz
     - name: Square
       type: ShapeType
-      datawriters: 3
+      datawriters: 2
       datareaders: 2
       rate: 26.6975 Hz
 
-This would be the expected output for the command ``topics verbose``:
+This would be the expected output for the command ``topics vv``:
 
 .. code-block::
 
     - name: Circle
       type: ShapeType
       datawriters:
-        - 01.0f.44.59.da.57.de.ec.00.00.00.00|0.0.3.2
+        - 01.0f.44.59.da.57.de.ec.00.00.00.00|0.0.3.2 ["A"]
       datareaders:
-        - 01.0f.44.59.c9.65.78.e5.00.00.00.00|0.0.2.7
+        - 01.0f.44.59.c9.65.78.e5.00.00.00.00|0.0.2.7 ["A"]
       rate: 13.0286 Hz
       dynamic_type_discovered: true
     - name: Square
       type: ShapeType
       datawriters:
-        - 01.0f.44.59.da.57.de.ec.00.00.00.00|0.0.1.2
-        - 01.0f.44.59.da.57.de.ec.00.00.00.00|0.0.2.2
+        - 01.0f.44.59.da.57.de.ec.00.00.00.00|0.0.1.2 ["A"]
+        - 01.0f.44.59.da.57.de.ec.00.00.00.00|0.0.2.2 ["A|B"]
       datareaders:
-        - 01.0f.44.59.21.58.14.d2.00.00.00.00|0.0.2.7
-        - 01.0f.44.59.da.57.de.ec.00.00.00.00|0.0.4.7
+        - 01.0f.44.59.21.58.14.d2.00.00.00.00|0.0.2.7 ["A"]
+        - 01.0f.44.59.da.57.de.ec.00.00.00.00|0.0.4.7 ["B"]
       rate: 26.685 Hz
       dynamic_type_discovered: true
 

docs/rst/user_manual/usage_example.rst

@@ -97,10 +97,10 @@ Try out all the commands DDS Spy has to offer:
     - name: Circle
       type: ShapeType
       datawriters:
-        - 01.0f.93.86.fb.9a.7f.92.00.00.02.00|0.0.3.2
+        - 01.0f.93.86.fb.9a.7f.92.00.00.02.00|0.0.3.2 ["A|B"]
       datareaders:
-        - 01.0f.93.86.fb.9a.7f.92.00.00.02.00|0.0.1.7
-        - 01.0f.93.86.fb.9a.7f.92.00.00.02.00|0.0.2.7
+        - 01.0f.93.86.fb.9a.7f.92.00.00.02.00|0.0.1.7 ["A"]
+        - 01.0f.93.86.fb.9a.7f.92.00.00.02.00|0.0.2.7 ["B"]
       rate: 11.2986 Hz
       dynamic_type_discovered: false
 
@@ -127,27 +127,36 @@ Try out all the commands DDS Spy has to offer:
     Fast DDS Spy is an interactive CLI that allow to instrospect DDS networks.
     Each command shows data related with the network in Yaml format.
     Commands available and the information they show:
-        help                            : this help.
-        version                         : tool version.
-        quit                            : exit interactive CLI and close program.
-        participants                    : DomainParticipants discovered in the network.
-        participants verbose            : verbose information about DomainParticipants discovered in the network.
-        participants <Guid>             : verbose information related with a specific DomainParticipant.
-        writers                         : DataWriters discovered in the network.
-        writers verbose                 : verbose information about DataWriters discovered in the network.
-        writers <Guid>                  : verbose information related with a specific DataWriter.
-        reader                          : DataReaders discovered in the network.
-        reader verbose                  : verbose information about DataReaders discovered in the network.
-        reader <Guid>                   : verbose information related with a specific DataReader.
-        topics                          : Topics discovered in the network in compact format.
-        topics v                        : Topics discovered in the network.
-        topics vv                       : verbose information about Topics discovered in the network.
-        topics <name>                   : Topics discovered in the network filtered by name (wildcard allowed (*)).
-        echo <name>                     : data of a specific Topic (Data Type must be discovered).
-        echo <wildcard_name>            : data of a Topics matching the wildcard name (Data Type must be discovered).
-        echo <name> verbose             : data with additional source info of a specific Topic.
-        echo <wildcard_name> verbose    : data with additional source info of Topics matching the topic name (wildcard allowed (*)).
-        echo all                        : verbose data of all topics (only those whose Data Type is discovered).
+        help                                      : this help.
+        version                                   : tool version.
+        quit                                      : exit interactive CLI and close program.
+        participants                              : DomainParticipants discovered in the network.
+        participants verbose                      : verbose information about DomainParticipants discovered in the network.
+        participants <Guid>                       : verbose information related with a specific DomainParticipant.
+        writers                                   : DataWriters discovered in the network.
+        writers verbose                           : verbose information about DataWriters discovered in the network.
+        writers <Guid>                            : verbose information related with a specific DataWriter.
+        reader                                    : DataReaders discovered in the network.
+        reader verbose                            : verbose information about DataReaders discovered in the network.
+        reader <Guid>                             : verbose information related with a specific DataReader.
+        topics                                    : Topics discovered in the network in compact format.
+        topics v                                  : Topics discovered in the network.
+        topics vv                                 : verbose information about Topics discovered in the network.
+        topics <name>                             : Topics discovered in the network filtered by name (wildcard allowed (*)).
+        topics <name> idl                         : Display the IDL type definition for topics matching <name> (wildcards allowed).
+        filters                                   : Display the active filters.
+        filters clear                             : Clear all the filter lists.
+        filters remove                            : Remove all the filter lists.
+        filter clear <category>                   : Clear <category> filter list.
+        filter remove <category>                  : Remove <category> filter list.
+        filter set <category> <filter_str>        : Set <category> filter list with <filter_str> as first value.
+        filter add <category> <filter_str>        : Add <filter_str> in <category> filter list.
+        filter remove <category> <filter_str>     : Remove <filter_str> in <category> filter list.
+        echo <name>                               : data of a specific Topic (Data Type must be discovered).
+        echo <wildcard_name>                      : data of Topics matching the wildcard name (and whose Data Type is discovered).
+        echo <name> verbose                       : data with additional source info of a specific Topic.
+        echo <wildcard_name> verbose              : data with additional source info of Topics matching the topic name (wildcard allowed (*)).
+        echo all                                  : verbose data of all topics (only those whose Data Type is discovered).
 
     Notes and comments:
         To exit from data printing, press enter.

fastddsspy_participants/include/fastddsspy_participants/participant/SpyDdsParticipant.hpp

@@ -54,6 +54,12 @@ class SpyDdsParticipant : public ddspipe::participants::DynTypesParticipant
     std::shared_ptr<ddspipe::core::IReader> create_reader(
             const ddspipe::core::ITopic& topic) override;
 
+    //! Override create_reader_() IParticipant method
+    FASTDDSSPY_PARTICIPANTS_DllAPI
+    std::shared_ptr<ddspipe::core::IReader> create_reader_with_filter(
+            const ddspipe::core::ITopic& topic,
+            const std::set<std::string> partitions) override;
+
     class SpyDdsParticipantListener : public ddspipe::participants::DynTypesParticipant::DynTypesRtpsListener
     {
     public:

fastddsspy_participants/include/fastddsspy_participants/visualization/parser_data.hpp

@@ -65,6 +65,7 @@ struct ComplexEndpointData
     {
         std::string topic_name;
         std::string topic_type;
+        std::string partition;
     };
 
     struct QoS
@@ -99,6 +100,7 @@ struct ComplexTopicData
     struct Endpoint
     {
         ddspipe::core::types::Guid guid;
+        std::string partition;
     };
 
     std::string name;
@@ -113,6 +115,7 @@ struct DdsDataData
 {
     SimpleEndpointData::Topic topic;
     ddspipe::core::types::Guid writer;
+    std::string partitions;
     TimestampData timestamp;
 };