initial commit

rmw_cyclonedds_cpp/src/namespace_prefix.cpp

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+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <string>
+#include <vector>
+
+#include "namespace_prefix.hpp"
+
+extern "C"
+{
+// static for internal linkage
+const char * const ros_topic_prefix = "rt";
+const char * const ros_service_requester_prefix = "rq";
+const char * const ros_service_response_prefix = "rr";
+
+const std::vector<std::string> _ros_prefixes =
+{ros_topic_prefix, ros_service_requester_prefix, ros_service_response_prefix};
+}  // extern "C"
+
+/// Return the ROS specific prefix if it exists, otherwise "".
+std::string
+_get_ros_prefix_if_exists(const std::string & topic_name)
+{
+  for (auto prefix : _ros_prefixes) {
+    if (topic_name.rfind(std::string(prefix) + "/", 0) == 0) {
+      return prefix;
+    }
+  }
+  return "";
+}

rmw_cyclonedds_cpp/src/namespace_prefix.hpp

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+// Copyright 2016 Proyectos y Sistemas de Mantenimiento SL (eProsima).
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef NAMESPACE_PREFIX_HPP_
+#define NAMESPACE_PREFIX_HPP_
+
+#include <vector>
+#include <string>
+
+extern "C"
+{
+extern const char * const ros_topic_prefix;
+extern const char * const ros_service_requester_prefix;
+extern const char * const ros_service_response_prefix;
+
+extern const std::vector<std::string> _ros_prefixes;
+}  // extern "C"
+
+/// Return the ROS specific prefix if it exists, otherwise "".
+std::string
+_get_ros_prefix_if_exists(const std::string & topic_name);
+
+#endif  // NAMESPACE_PREFIX_HPP_

rmw_cyclonedds_cpp/src/rmw_cyclonedds_topic.idl

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+module rmw {
+  module cyclonedds {
+    struct topic {
+      boolean dummy;
+    };
+#pragma keylist rmw::cyclonedds::topic
+  };
+};