Combine package name with message namespace in type support struct (#268

) * Combine package name with message namespace in type support struct Signed-off-by: Jacob Perron <[email protected]> * Update demangle logic for services Signed-off-by: Jacob Perron <[email protected]> * fix lint Signed-off-by: Jacob Perron <[email protected]>
ros2 · May 8, 2019 · 2c56ae4 · 2c56ae4
1 parent 81e90b8
commit 2c56ae4
Show file tree

Hide file tree

Showing 5 changed files with 26 additions and 26 deletions.
diff --git a/rmw_opensplice_cpp/src/demangle.cpp b/rmw_opensplice_cpp/src/demangle.cpp
@@ -12,8 +12,9 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-#include <string>
 #include <algorithm>
+#include <regex>
+#include <string>
 #include <vector>
 
 #include "rcutils/logging_macros.h"
@@ -36,19 +37,21 @@ _demangle_if_ros_topic(const std::string & topic_name)
 std::string
 _demangle_if_ros_type(const std::string & dds_type_string)
 {
-  std::string substring = "::msg::dds_::";
+  std::string substring = "dds_::";
   size_t substring_position = dds_type_string.find(substring);
   if (
-    dds_type_string[dds_type_string.size() - 1] == '_' &&
-    substring_position != std::string::npos)
+    dds_type_string[dds_type_string.size() - 1] != '_' ||
+    substring_position == std::string::npos)
   {
-    std::string pkg = dds_type_string.substr(0, substring_position);
-    size_t start = substring_position + substring.size();
-    std::string type_name = dds_type_string.substr(start, dds_type_string.length() - 1 - start);
-    return pkg + "/" + type_name;
+    // not a ROS type
+    return dds_type_string;
   }
-  // not a ROS type
-  return dds_type_string;
+
+  std::string type_namespace = dds_type_string.substr(0, substring_position);
+  type_namespace = std::regex_replace(type_namespace, std::regex("::"), "/");
+  size_t start = substring_position + substring.size();
+  std::string type_name = dds_type_string.substr(start, dds_type_string.length() - 1 - start);
+  return type_namespace + type_name;
 }
 
 std::string
@@ -108,7 +111,7 @@ _demangle_service_from_topic(const std::string & topic_name)
 std::string
 _demangle_service_type_only(const std::string & dds_type_name)
 {
-  std::string ns_substring = "::srv::dds_::";
+  std::string ns_substring = "dds_::";
   size_t ns_substring_position = dds_type_name.find(ns_substring);
   if (ns_substring_position == std::string::npos) {
     // not a ROS service type
@@ -125,7 +128,7 @@ _demangle_service_type_only(const std::string & dds_type_name)
     if (suffix_position != std::string::npos) {
       if (dds_type_name.length() - suffix_position - suffix.length() != 0) {
         RCUTILS_LOG_WARN_NAMED("rmw_opensplice_cpp",
-          "service type contains '::srv::dds_::' and a suffix, but not at the end"
+          "service type contains 'dds_::' and a suffix, but not at the end"
           ", report this: '%s'", dds_type_name.c_str());
         continue;
       }
@@ -135,13 +138,15 @@ _demangle_service_type_only(const std::string & dds_type_name)
   }
   if (suffix_position == std::string::npos) {
     RCUTILS_LOG_WARN_NAMED("rmw_opensplice_cpp",
-      "service type contains '::srv::dds_::' but does not have a suffix"
+      "service type contains 'dds_::' but does not have a suffix"
       ", report this: '%s'", dds_type_name.c_str());
     return "";
   }
-  // everything checks out, reformat it from '<pkg>::srv::dds_::<type><suffix>' to '<pkg>/<type>'
-  std::string pkg = dds_type_name.substr(0, ns_substring_position);
+  // everything checks out, reformat it from '[namespace::]dds_::<type><suffix>'
+  // to '[namespace/]<type>'
+  std::string type_namespace = dds_type_name.substr(0, ns_substring_position);
+  type_namespace = std::regex_replace(type_namespace, std::regex("::"), "/");
   size_t start = ns_substring_position + ns_substring.length();
   std::string type_name = dds_type_name.substr(start, suffix_position - start);
-  return pkg + "/" + type_name;
+  return type_namespace + type_name;
 }
diff --git a/rmw_opensplice_cpp/src/rmw_publisher.cpp b/rmw_opensplice_cpp/src/rmw_publisher.cpp
@@ -126,7 +126,7 @@ rmw_create_publisher(
     RMW_SET_ERROR_MSG("callbacks handle is null");
     return NULL;
   }
-  std::string type_name = create_type_name(callbacks, "msg");
+  std::string type_name = create_type_name(callbacks);
 
   const char * error_string = callbacks->register_type(participant, type_name.c_str());
   if (error_string) {

diff --git a/rmw_opensplice_cpp/src/rmw_subscription.cpp b/rmw_opensplice_cpp/src/rmw_subscription.cpp
@@ -126,7 +126,7 @@ rmw_create_subscription(
     RMW_SET_ERROR_MSG("callbacks handle is null");
     return NULL;
   }
-  std::string type_name = create_type_name(callbacks, "msg");
+  std::string type_name = create_type_name(callbacks);
 
   const char * error_string = callbacks->register_type(participant, type_name.c_str());
   if (error_string) {

diff --git a/rmw_opensplice_cpp/src/types.cpp b/rmw_opensplice_cpp/src/types.cpp
@@ -30,12 +30,9 @@
 #include "namespace_prefix.hpp"
 
 std::string
-create_type_name(
-  const message_type_support_callbacks_t * callbacks,
-  const std::string & sep)
+create_type_name(const message_type_support_callbacks_t * callbacks)
 {
-  return std::string(callbacks->package_name) +
-         "::" + sep + "::dds_::" + callbacks->message_name + "_";
+  return std::string(callbacks->message_namespace) + "::dds_::" + callbacks->message_name + "_";
 }
 
 CustomDataReaderListener::CustomDataReaderListener()

diff --git a/rmw_opensplice_cpp/src/types.hpp b/rmw_opensplice_cpp/src/types.hpp
@@ -49,9 +49,7 @@
 
 RMW_LOCAL
 std::string
-create_type_name(
-  const message_type_support_callbacks_t * callbacks,
-  const std::string & sep);
+create_type_name(const message_type_support_callbacks_t * callbacks);
 
 // The extern "C" here enforces that overloading is not used.
 extern "C"