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Replace const char * with a std::array<char, TOPIC_NAME_LENGTH> as the key of IPM IDTopicMap (#671)

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Use std::array<char, TOPIC_NAME_LENGTH> and not const char * as key in IPM IDTopicMap

Signed-off-by: ivanpauno <ivanpauno@ekumenlabs.com>
This commit is contained in:
ivanpauno 2019-04-04 17:47:33 -03:00 • committed by GitHub
parent ee7e642592
commit ed21cf4699
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GPG key ID: 4AEE18F83AFDEB23
1 changed files with 21 additions and 16 deletions
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37
rclcpp/include/rclcpp/intra_process_manager_impl.hpp
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@ -16,6 +16,7 @@
#define RCLCPP__INTRA_PROCESS_MANAGER_IMPL_HPP_ #define RCLCPP__INTRA_PROCESS_MANAGER_IMPL_HPP_
#include <algorithm> #include <algorithm>
#include <array>
#include <atomic> #include <atomic>
#include <cstring> #include <cstring>
#include <functional> #include <functional>
@ -28,6 +29,8 @@
#include <unordered_map> #include <unordered_map>
#include <utility> #include <utility>
#include "rmw/validate_full_topic_name.h"
#include "rclcpp/macros.hpp" #include "rclcpp/macros.hpp"
#include "rclcpp/mapped_ring_buffer.hpp" #include "rclcpp/mapped_ring_buffer.hpp"
#include "rclcpp/publisher.hpp" #include "rclcpp/publisher.hpp"
@ -98,9 +101,7 @@ public:
add_subscription(uint64_t id, SubscriptionBase::SharedPtr subscription) add_subscription(uint64_t id, SubscriptionBase::SharedPtr subscription)
{ {
subscriptions_[id] = subscription; subscriptions_[id] = subscription;
// subscription->get_topic_name() -> const char * can be used as the key, subscription_ids_by_topic_[fixed_size_string(subscription->get_topic_name())].insert(id);
// since subscriptions_ shares the ownership of subscription
subscription_ids_by_topic_[subscription->get_topic_name()].insert(id);
} }
void void
@ -175,7 +176,8 @@ public:
} }
// Figure out what subscriptions should receive the message. // Figure out what subscriptions should receive the message.
auto & destined_subscriptions = subscription_ids_by_topic_[publisher->get_topic_name()]; auto & destined_subscriptions =
subscription_ids_by_topic_[fixed_size_string(publisher->get_topic_name())];
// Store the list for later comparison. // Store the list for later comparison.
if (info.target_subscriptions_by_message_sequence.count(message_seq) == 0) { if (info.target_subscriptions_by_message_sequence.count(message_seq) == 0) {
info.target_subscriptions_by_message_sequence.emplace( info.target_subscriptions_by_message_sequence.emplace(
@ -263,7 +265,8 @@ public:
if (!publisher) { if (!publisher) {
throw std::runtime_error("publisher has unexpectedly gone out of scope"); throw std::runtime_error("publisher has unexpectedly gone out of scope");
} }
auto sub_map_it = subscription_ids_by_topic_.find(publisher->get_topic_name()); auto sub_map_it =
subscription_ids_by_topic_.find(fixed_size_string(publisher->get_topic_name()));
if (sub_map_it == subscription_ids_by_topic_.end()) { if (sub_map_it == subscription_ids_by_topic_.end()) {
// No intraprocess subscribers // No intraprocess subscribers
return 0; return 0;
@ -274,6 +277,16 @@ public:
private: private:
RCLCPP_DISABLE_COPY(IntraProcessManagerImpl) RCLCPP_DISABLE_COPY(IntraProcessManagerImpl)
using FixedSizeString = std::array<char, RMW_TOPIC_MAX_NAME_LENGTH + 1>;
FixedSizeString
fixed_size_string(const char * str) const
{
FixedSizeString ret;
std::strncpy(ret.data(), str, ret.size());
return ret;
}
template<typename T> template<typename T>
using RebindAlloc = typename std::allocator_traits<Allocator>::template rebind_alloc<T>; using RebindAlloc = typename std::allocator_traits<Allocator>::template rebind_alloc<T>;
@ -285,19 +298,11 @@ private:
std::hash<uint64_t>, std::equal_to<uint64_t>, std::hash<uint64_t>, std::equal_to<uint64_t>,
RebindAlloc<std::pair<const uint64_t, SubscriptionBase::WeakPtr>>>; RebindAlloc<std::pair<const uint64_t, SubscriptionBase::WeakPtr>>>;
struct strcmp_wrapper
{
bool
operator()(const char * lhs, const char * rhs) const
{
return std::strcmp(lhs, rhs) < 0;
}
};
using IDTopicMap = std::map< using IDTopicMap = std::map<
const char *, FixedSizeString,
AllocSet, AllocSet,
strcmp_wrapper, std::less<FixedSizeString>,
RebindAlloc<std::pair<const char * const, AllocSet>>>; RebindAlloc<std::pair<const FixedSizeString, AllocSet>>>;
SubscriptionMap subscriptions_; SubscriptionMap subscriptions_;