address review

Co-authored-by: Andrea Sorbini <[email protected]>
Signed-off-by: Chen Lihui <[email protected]>

rmw_connextdds_common/include/rmw_connextdds/dds_api.hpp

@@ -220,6 +220,18 @@ rmw_connextdds_enable_security(
   rmw_context_impl_t * const ctx,
   DDS_DomainParticipantQos * const qos);
 
+rmw_ret_t
+rmw_connextdds_set_cft_filter_expression(
+  DDS_TopicDescription * const topic_desc,
+  const char * filter_expression,
+  const rcutils_string_array_t * expression_parameters);
+
+rmw_ret_t
+rmw_connextdds_get_cft_filter_expression(
+  DDS_TopicDescription * const topic_desc,
+  char ** const expr_out,
+  rcutils_string_array_t * cft_params_out);
+
 // Define some macro aliases for security-related properties
 #ifndef DDS_SECURITY_PROPERTY_PREFIX
 #define DDS_SECURITY_PROPERTY_PREFIX \

rmw_connextdds_common/include/rmw_connextdds/rmw_impl.hpp

@@ -361,7 +361,7 @@ class RMW_Connext_Subscriber
     const char * const cft_filter = nullptr);
 
   rmw_ret_t
-  finalize();
+  finalize(const bool reset_cft = false);
 
   DDS_DataReader *
   reader() const
@@ -598,6 +598,7 @@ class RMW_Connext_Subscriber
   const rmw_node_t * node;
   std::string fqtopic_name;
   rmw_qos_profile_t qos_policies;
+  rmw_subscription_options_t subscriber_options;
 
   RMW_Connext_Subscriber(
     rmw_context_impl_t * const ctx,
@@ -609,6 +610,21 @@ class RMW_Connext_Subscriber
     DDS_TopicDescription * const dds_topic_cft,
     const bool internal);
 
+  static
+  DDS_DataReader *
+    initialize_datareader(
+    rmw_context_impl_t * const ctx,
+    DDS_DomainParticipant * const dp,
+    DDS_Subscriber * const sub,
+    const std::string & fqtopic_name,
+    const rmw_qos_profile_t * const qos_policies,
+    RMW_Connext_MessageTypeSupport * const type_support,
+#if RMW_CONNEXT_HAVE_OPTIONS_PUBSUB
+    const rmw_subscription_options_t * const subscriber_options,
+#endif /* RMW_CONNEXT_HAVE_OPTIONS_PUBSUB */
+    const bool internal,
+    DDS_TopicDescription * sub_topic);
+
   friend class RMW_Connext_SubscriberStatusCondition;
 };