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Clean up topic namespace prefixes (#76)

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Signed-off-by: Dan Rose <dan@digilabs.io>
This commit is contained in:
Dan Rose 2019-12-06 11:23:47 -06:00 • committed by GitHub
parent b322f478de
commit 9b264c6480
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GPG key ID: 4AEE18F83AFDEB23
4 changed files with 14 additions and 68 deletions
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20
rmw_cyclonedds_cpp/src/rmw_node.cpp
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@ -1210,7 +1210,7 @@ static CddsPublisher * create_cdds_publisher(
dds_entity_t topic;
dds_qos_t * qos;
std::string fqtopic_name = make_fqtopic(ros_topic_prefix, topic_name, "", qos_policies);
std::string fqtopic_name = make_fqtopic(ROS_TOPIC_PREFIX, topic_name, "", qos_policies);
auto sertopic = create_sertopic(
fqtopic_name.c_str(), type_support->typesupport_identifier,
@ -1432,7 +1432,7 @@ static CddsSubscription * create_cdds_subscription(
dds_entity_t topic;
dds_qos_t * qos;
std::string fqtopic_name = make_fqtopic(ros_topic_prefix, topic_name, "", qos_policies);
std::string fqtopic_name = make_fqtopic(ROS_TOPIC_PREFIX, topic_name, "", qos_policies);
auto sertopic = create_sertopic(
fqtopic_name.c_str(), type_support->typesupport_identifier,
@ -2333,8 +2333,8 @@ static rmw_ret_t rmw_init_cs(
pub_type_support = create_response_type_support(type_support->data,
type_support->typesupport_identifier);
subtopic_name =
make_fqtopic(ros_service_requester_prefix, service_name, "Request", qos_policies);
pubtopic_name = make_fqtopic(ros_service_response_prefix, service_name, "Reply", qos_policies);
make_fqtopic(ROS_SERVICE_REQUESTER_PREFIX, service_name, "Request", qos_policies);
pubtopic_name = make_fqtopic(ROS_SERVICE_RESPONSE_PREFIX, service_name, "Reply", qos_policies);
} else {
std::tie(pub_msg_ts, sub_msg_ts) =
rmw_cyclonedds_cpp::make_request_response_value_types(type_supports);
@ -2344,8 +2344,8 @@ static rmw_ret_t rmw_init_cs(
sub_type_support = create_response_type_support(type_support->data,
type_support->typesupport_identifier);
pubtopic_name =
make_fqtopic(ros_service_requester_prefix, service_name, "Request", qos_policies);
subtopic_name = make_fqtopic(ros_service_response_prefix, service_name, "Reply", qos_policies);
make_fqtopic(ROS_SERVICE_REQUESTER_PREFIX, service_name, "Request", qos_policies);
subtopic_name = make_fqtopic(ROS_SERVICE_RESPONSE_PREFIX, service_name, "Reply", qos_policies);
}
RCUTILS_LOG_DEBUG_NAMED("rmw_cyclonedds_cpp", "************ %s Details *********",
@ -2781,7 +2781,7 @@ static rmw_ret_t get_endpoint_names_and_types_by_node(
return ret;
}
const auto re_tp =
std::regex("^" + std::string(ros_topic_prefix) + "(/.*)", std::regex::extended);
std::regex("^" + std::string(ROS_TOPIC_PREFIX) + "(/.*)", std::regex::extended);
const auto re_typ = std::regex("^(.*::)dds_::(.*)_$", std::regex::extended);
const auto filter_and_map =
[re_tp, re_typ, guids, node_name, no_demangle](const dds_builtintopic_endpoint_t & sample,
@ -2872,8 +2872,8 @@ static rmw_ret_t get_cs_names_and_types_by_node(
return ret;
}
const auto re_tp = std::regex(
"^(" + std::string(ros_service_requester_prefix) + "|" +
std::string(ros_service_response_prefix) + ")(/.*)(Request|Reply)$",
"^(" + std::string(ROS_SERVICE_REQUESTER_PREFIX) + "|" +
std::string(ROS_SERVICE_RESPONSE_PREFIX) + ")(/.*)(Request|Reply)$",
std::regex::extended);
const auto re_typ = std::regex("^(.*::)dds_::(.*)_(Response|Request)_$", std::regex::extended);
const auto filter_and_map = [re_tp, re_typ, guids, node_name, looking_for_services](
@ -2966,7 +2966,7 @@ static rmw_ret_t rmw_count_pubs_or_subs(
RET_WRONG_IMPLID(node);
auto node_impl = static_cast<CddsNode *>(node->data);
std::string fqtopic_name = make_fqtopic(ros_topic_prefix, topic_name, "", false);
std::string fqtopic_name = make_fqtopic(ROS_TOPIC_PREFIX, topic_name, "", false);
dds_entity_t rd;
if ((rd = dds_create_reader(node_impl->pp, builtin_topic, NULL, NULL)) < 0) {
RMW_SET_ERROR_MSG("rmw_count_pubs_or_subs failed to create reader");