Remove code duplication, update ros_topic_name_to_zenoh_key function

rmw_zenoh_cpp/src/detail/liveliness_utils.cpp

@@ -446,24 +446,6 @@ std::string mangle_name(const std::string & input)
   return output;
 }
 
-///=============================================================================
-char * mangle_name(const char * input)
-{
-  size_t input_length = strlen(input);
-  char * output = new char[input_length + 1];
-
-  for (size_t i = 0; i < input_length; ++i) {
-    if (input[i] == '/') {
-      output[i] = SLASH_REPLACEMENT;
-    } else {
-      output[i] = input[i];
-    }
-  }
-  output[input_length] = '\0';
-
-  return output;
-}
-
 ///=============================================================================
 std::string demangle_name(const std::string & input)
 {

rmw_zenoh_cpp/src/detail/liveliness_utils.hpp

@@ -122,9 +122,6 @@ class Entity
 /// Replace "/" instances with "%".
 std::string mangle_name(const std::string & input);
 
-/// Replace "/" instances with "%".
-char * mangle_name(const char * input);
-
 /// Replace "%" instances with "/".
 std::string demangle_name(const std::string & input);
 

rmw_zenoh_cpp/src/rmw_zenoh.cpp

@@ -87,22 +87,12 @@ z_owned_keyexpr_t ros_topic_name_to_zenoh_key(const char * topic_name, size_t do
   size_t topic_name_len = strlen(topic_name);
   size_t end_offset = topic_name_len;
 
-  topic_name = liveliness::mangle_name(topic_name);
-
-  if (topic_name_len > 0) {
-    if (topic_name[0] == '%') {
-      // Strip the leading '/'
-      start_offset = 1;
-    }
-    if (topic_name[end_offset - 1] == '%') {
-      // Strip the trailing '/'
-      end_offset -= 1;
-    }
-  }
+  std::string topic_nm(topic_name);
+  topic_nm = liveliness::mangle_name(topic_nm);
 
   return z_keyexpr_join(
     z_keyexpr(d.c_str()),
-    zc_keyexpr_from_slice(&topic_name[start_offset], end_offset - start_offset));
+    z_keyexpr(topic_nm.c_str()));
 }
 
 //==============================================================================