Remove topic partitions (#192)

* removed the use of partitions, use the complete topic_name directly

Removed assign_partitions.hpp header

trial: removal of topic partitions from services and client

Modified readerinfo, writerinfo and added prefix to the topic names.

* Changed topic namespacing in services and clients

minor style changes

Delete assign_partitions.hpp and removed anything related to partitons

re-adding avoid_ros_namespace_conventions check for prefixing names

Corrected indentation

Added vertical space between the headers

* remove unnecessary initializations

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/reader_info.hpp

@@ -71,12 +71,7 @@ class ReaderInfo : public eprosima::fastrtps::rtps::ReaderListener
       }
     }
 
-    auto partition_str = std::string("");
-    // don't use std::accumulate - schlemiel O(n2)
-    for (const auto & partition : proxyData.m_qos.m_partition.getNames()) {
-      partition_str += partition;
-    }
-    auto fqdn = partition_str + "/" + proxyData.topicName();
+    auto fqdn = proxyData.topicName();
 
     bool trigger = false;
     mapmutex.lock();

rmw_fastrtps_cpp/include/rmw_fastrtps_cpp/writer_info.hpp

@@ -69,12 +69,7 @@ class WriterInfo : public eprosima::fastrtps::rtps::ReaderListener
       }
     }
 
-    auto partition_str = std::string("");
-    // don't use std::accumulate - schlemiel O(n2)
-    for (const auto & partition : proxyData.m_qos.m_partition.getNames()) {
-      partition_str += partition;
-    }
-    auto fqdn = partition_str + "/" + proxyData.topicName();
+    auto fqdn = proxyData.topicName();
 
     bool trigger = false;
     mapmutex.lock();

rmw_fastrtps_cpp/src/rmw_client.cpp

@@ -23,7 +23,6 @@
 
 #include "rosidl_typesupport_introspection_c/identifier.h"
 
-#include "assign_partitions.hpp"
 #include "client_service_common.hpp"
 #include "rmw_fastrtps_cpp/identifier.hpp"
 #include "namespace_prefix.hpp"
@@ -129,12 +128,10 @@ rmw_create_client(
   subscriberParam.topic.topicDataType = response_type_name;
   subscriberParam.historyMemoryPolicy =
     eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
-  rcutils_ret_t ret = _assign_partitions_to_attributes(
-    service_name, ros_service_response_prefix,
-    qos_policies->avoid_ros_namespace_conventions, &subscriberParam);
-  if (ret != RCUTILS_RET_OK) {
-    // error msg already set
-    goto fail;
+  if (!qos_policies->avoid_ros_namespace_conventions) {
+    subscriberParam.topic.topicName = std::string(ros_service_response_prefix) + service_name;
+  } else {
+    subscriberParam.topic.topicName = service_name;
   }
   subscriberParam.topic.topicName += "Reply";
 
@@ -143,12 +140,10 @@ rmw_create_client(
   publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
   publisherParam.historyMemoryPolicy =
     eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
-  ret = _assign_partitions_to_attributes(
-    service_name, ros_service_requester_prefix,
-    qos_policies->avoid_ros_namespace_conventions, &publisherParam);
-  if (ret != RCUTILS_RET_OK) {
-    // error msg already set
-    goto fail;
+  if (!qos_policies->avoid_ros_namespace_conventions) {
+    publisherParam.topic.topicName = std::string(ros_service_requester_prefix) + service_name;
+  } else {
+    publisherParam.topic.topicName = service_name;
   }
   publisherParam.topic.topicName += "Request";
 
@@ -158,15 +153,9 @@ rmw_create_client(
   RCUTILS_LOG_DEBUG_NAMED(
     "rmw_fastrtps_cpp",
     "Sub Topic %s", subscriberParam.topic.topicName.c_str())
-  RCUTILS_LOG_DEBUG_NAMED(
-    "rmw_fastrtps_cpp",
-    "Sub Partition %s", subscriberParam.qos.m_partition.getNames()[0].c_str())
   RCUTILS_LOG_DEBUG_NAMED(
     "rmw_fastrtps_cpp",
     "Pub Topic %s", publisherParam.topic.topicName.c_str())
-  RCUTILS_LOG_DEBUG_NAMED(
-    "rmw_fastrtps_cpp",
-    "Pub Partition %s", publisherParam.qos.m_partition.getNames()[0].c_str())
   RCUTILS_LOG_DEBUG_NAMED("rmw_fastrtps_cpp", "***********")
 
   // Create Client Subscriber and set QoS

rmw_fastrtps_cpp/src/rmw_publisher.cpp

@@ -18,7 +18,6 @@
 #include "rmw/error_handling.h"
 #include "rmw/rmw.h"
 
-#include "assign_partitions.hpp"
 #include "rmw_fastrtps_cpp/identifier.hpp"
 #include "namespace_prefix.hpp"
 #include "qos.hpp"
@@ -108,12 +107,10 @@ rmw_create_publisher(
     eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   publisherParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   publisherParam.topic.topicDataType = type_name;
-  rcutils_ret_t ret = _assign_partitions_to_attributes(
-    topic_name, ros_topic_prefix,
-    qos_policies->avoid_ros_namespace_conventions, &publisherParam);
-  if (ret != RCUTILS_RET_OK) {
-    // error msg already set
-    goto fail;
+  if (!qos_policies->avoid_ros_namespace_conventions) {
+    publisherParam.topic.topicName = std::string(ros_topic_prefix) + topic_name;
+  } else {
+    publisherParam.topic.topicName = topic_name;
   }
 
   // 1 Heartbeat every 10ms

rmw_fastrtps_cpp/src/rmw_service.cpp

@@ -31,9 +31,9 @@
 #include "rmw/rmw.h"
 
 #include "rosidl_typesupport_introspection_cpp/identifier.hpp"
+
 #include "rosidl_typesupport_introspection_c/identifier.h"
 
-#include "assign_partitions.hpp"
 #include "client_service_common.hpp"
 #include "rmw_fastrtps_cpp/identifier.hpp"
 #include "namespace_prefix.hpp"
@@ -139,12 +139,10 @@ rmw_create_service(
   subscriberParam.historyMemoryPolicy =
     eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   subscriberParam.topic.topicDataType = request_type_name;
-  rcutils_ret_t ret = _assign_partitions_to_attributes(
-    service_name, ros_service_requester_prefix,
-    qos_policies->avoid_ros_namespace_conventions, &subscriberParam);
-  if (ret != RCUTILS_RET_OK) {
-    // error msg already set
-    goto fail;
+  if (!qos_policies->avoid_ros_namespace_conventions) {
+    subscriberParam.topic.topicName = std::string(ros_service_requester_prefix) + service_name;
+  } else {
+    subscriberParam.topic.topicName = service_name;
   }
   subscriberParam.topic.topicName += "Request";
 
@@ -153,12 +151,10 @@ rmw_create_service(
   publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
   publisherParam.historyMemoryPolicy =
     eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
-  ret = _assign_partitions_to_attributes(
-    service_name, ros_service_response_prefix,
-    qos_policies->avoid_ros_namespace_conventions, &publisherParam);
-  if (ret != RCUTILS_RET_OK) {
-    // error msg already set
-    goto fail;
+  if (!qos_policies->avoid_ros_namespace_conventions) {
+    publisherParam.topic.topicName = std::string(ros_service_response_prefix) + service_name;
+  } else {
+    publisherParam.topic.topicName = service_name;
   }
   publisherParam.topic.topicName += "Reply";
 
@@ -168,15 +164,9 @@ rmw_create_service(
   RCUTILS_LOG_DEBUG_NAMED(
     "rmw_fastrtps_cpp",
     "Sub Topic %s", subscriberParam.topic.topicName.c_str())
-  RCUTILS_LOG_DEBUG_NAMED(
-    "rmw_fastrtps_cpp",
-    "Sub Partition %s", subscriberParam.qos.m_partition.getNames()[0].c_str())
   RCUTILS_LOG_DEBUG_NAMED(
     "rmw_fastrtps_cpp",
     "Pub Topic %s", publisherParam.topic.topicName.c_str())
-  RCUTILS_LOG_DEBUG_NAMED(
-    "rmw_fastrtps_cpp",
-    "Pub Partition %s", publisherParam.qos.m_partition.getNames()[0].c_str())
   RCUTILS_LOG_DEBUG_NAMED("rmw_fastrtps_cpp", "***********")
 
   // Create Service Subscriber and set QoS

rmw_fastrtps_cpp/src/rmw_service_server_is_available.cpp

@@ -64,33 +64,13 @@ rmw_service_server_is_available(
 
   auto pub_topic_name =
     client_info->request_publisher_->getAttributes().topic.getTopicName();
-  auto pub_partitions =
-    client_info->request_publisher_->getAttributes().qos.m_partition.getNames();
-  // every rostopic has exactly 1 partition field set
-  if (pub_partitions.size() != 1) {
-    RCUTILS_LOG_ERROR_NAMED(
-      "rmw_fastrtps_cpp",
-      "Topic %s is not a ros topic", pub_topic_name.c_str())
-    RMW_SET_ERROR_MSG((std::string(pub_topic_name) + " is a non-ros topic\n").c_str());
-    return RMW_RET_ERROR;
-  }
-  auto pub_fqdn = pub_partitions[0] + "/" + pub_topic_name;
-  pub_fqdn = _demangle_if_ros_topic(pub_fqdn);
+
+  auto pub_fqdn = _demangle_if_ros_topic(pub_topic_name);
 
   auto sub_topic_name =
     client_info->response_subscriber_->getAttributes().topic.getTopicName();
-  auto sub_partitions =
-    client_info->response_subscriber_->getAttributes().qos.m_partition.getNames();
-  // every rostopic has exactly 1 partition field set
-  if (sub_partitions.size() != 1) {
-    RCUTILS_LOG_ERROR_NAMED(
-      "rmw_fastrtps_cpp",
-      "Topic %s is not a ros topic", pub_topic_name.c_str())
-    RMW_SET_ERROR_MSG((std::string(sub_topic_name) + " is a non-ros topic\n").c_str());
-    return RMW_RET_ERROR;
-  }
-  auto sub_fqdn = sub_partitions[0] + "/" + sub_topic_name;
-  sub_fqdn = _demangle_if_ros_topic(sub_fqdn);
+
+  auto sub_fqdn = _demangle_if_ros_topic(sub_topic_name);
 
   *is_available = false;
   size_t number_of_request_subscribers = 0;

rmw_fastrtps_cpp/src/rmw_subscription.cpp

@@ -22,7 +22,6 @@
 #include "fastrtps/participant/Participant.h"
 #include "fastrtps/subscriber/Subscriber.h"
 
-#include "assign_partitions.hpp"
 #include "rmw_fastrtps_cpp/identifier.hpp"
 #include "namespace_prefix.hpp"
 #include "qos.hpp"
@@ -110,12 +109,10 @@ rmw_create_subscription(
     eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
   subscriberParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   subscriberParam.topic.topicDataType = type_name;
-  rcutils_ret_t ret = _assign_partitions_to_attributes(
-    topic_name, ros_topic_prefix,
-    qos_policies->avoid_ros_namespace_conventions, &subscriberParam);
-  if (ret != RCUTILS_RET_OK) {
-    // error msg already set
-    goto fail;
+  if (!qos_policies->avoid_ros_namespace_conventions) {
+    subscriberParam.topic.topicName = std::string(ros_topic_prefix) + topic_name;
+  } else {
+    subscriberParam.topic.topicName = topic_name;
   }
 
   if (!get_datareader_qos(*qos_policies, subscriberParam)) {