From a136fe2bdb653adaa7ea817203abe1e576b29ac6 Mon Sep 17 00:00:00 2001
From: Shivang Vijay <shivang.vijay@unboxrobotics.com>
Date: Sun, 10 Mar 2024 11:47:27 +0530
Subject: [PATCH] Remove code duplication, update ros_topic_name_to_zenoh_key
 function

---
 rmw_zenoh_cpp/src/detail/liveliness_utils.cpp | 18 ------------------
 rmw_zenoh_cpp/src/detail/liveliness_utils.hpp |  3 ---
 rmw_zenoh_cpp/src/rmw_zenoh.cpp               | 16 +++-------------
 3 files changed, 3 insertions(+), 34 deletions(-)

diff --git a/rmw_zenoh_cpp/src/detail/liveliness_utils.cpp b/rmw_zenoh_cpp/src/detail/liveliness_utils.cpp
index 306c60a0..997f76b3 100644
--- a/rmw_zenoh_cpp/src/detail/liveliness_utils.cpp
+++ b/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)
 {
diff --git a/rmw_zenoh_cpp/src/detail/liveliness_utils.hpp b/rmw_zenoh_cpp/src/detail/liveliness_utils.hpp
index 40d9c80a..390ecc68 100644
--- a/rmw_zenoh_cpp/src/detail/liveliness_utils.hpp
+++ b/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);
 
diff --git a/rmw_zenoh_cpp/src/rmw_zenoh.cpp b/rmw_zenoh_cpp/src/rmw_zenoh.cpp
index de6edd11..fa120931 100644
--- a/rmw_zenoh_cpp/src/rmw_zenoh.cpp
+++ b/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()));
 }
 
 //==============================================================================