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Fix retrieving client/server topic names

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Signed-off-by: Erik Boasson <eb@ilities.com>
This commit is contained in:
Erik Boasson 2019-08-16 15:16:00 +02:00 • committed by eboasson
parent 0765e5696d
commit 130d6ea10e
1 changed files with 19 additions and 2 deletions
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21
rmw_cyclonedds_cpp/src/rmw_node.cpp
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@ -1919,6 +1919,21 @@ static rmw_ret_t get_endpoint_names_and_types_by_node (const rmw_node_t *node, r
return make_names_and_types (tptyp, tt, allocator);
}
static bool endpoint_is_from_service (bool is_request, const dds_builtintopic_guid_t& guid)
{
/* Final byte of GUID is entity type, application writers use 0x02 (write with key) and 0x03
(writer without key); readers use 0x04 and 0x07. See DDSI specification, table 9.1.
A service has a reader for a request and a writer for the reply; a client has it the other
way round. Therefore, it is a service iff is_request is set and the GUID indicates it is a
writer. */
if (is_request) {
return (guid.v[15] == 0x04 || guid.v[15] == 0x07);
} else {
return (guid.v[15] == 0x02 || guid.v[15] == 0x03);
}
}
static rmw_ret_t get_cs_names_and_types_by_node (const rmw_node_t *node, rcutils_allocator_t *allocator, const char *node_name, const char *node_namespace, rmw_names_and_types_t *sntyp, bool looking_for_services)
{
RET_WRONG_IMPLID (node);
@ -1941,14 +1956,16 @@ static rmw_ret_t get_cs_names_and_types_by_node (const rmw_node_t *node, rcutils
const auto re_tp = std::regex ("^(" + std::string (ros_service_requester_prefix) + "|" +
std::string (ros_service_response_prefix) + ")(/.*)(Request|Reply)$",
std::regex::extended);
const auto re_typ = std::regex ("^(.*::)dds_::(.*)_(Reponse|Request)_$", std::regex::extended);
const auto re_typ = std::regex ("^(.*::)dds_::(.*)_(Response|Request)_$", std::regex::extended);
const auto filter_and_map =
[re_tp, re_typ, guids, node_name](const dds_builtintopic_endpoint_t& sample, std::string& topic_name, std::string& type_name) -> bool {
[re_tp, re_typ, guids, node_name, looking_for_services](const dds_builtintopic_endpoint_t& sample, std::string& topic_name, std::string& type_name) -> bool {
std::cmatch cm_tp, cm_typ;
if (node_name != nullptr && guids.count (sample.participant_key) == 0) {
return false;
} if (! std::regex_search (sample.topic_name, cm_tp, re_tp) || ! std::regex_search (sample.type_name, cm_typ, re_typ)) {
return false;
} else if (looking_for_services != endpoint_is_from_service (std::string (cm_tp[3]) == "Request", sample.key)) {
return false;
} else {
std::string demangled_type = std::regex_replace (std::string (cm_typ[1]), std::regex ("::"), "/");
topic_name = std::string (cm_tp[2]);