adaptations for iceoryx #70 (#14)

Signed-off-by: Poehnl Michael (CC-AD/ESW1) <michael.poehnl@de.bosch.com>

iceoryx_ros2_bridge/src/iceoryx_ros2_bridge.cpp

@@ -225,7 +225,8 @@ int main(int argc, char ** argv)
 
     auto service_desc =
       rmw_iceoryx_cpp::get_iceoryx_service_description(topic, ts);
-    iceoryx_pubs.emplace_back(std::make_shared<iox::popo::Publisher>(service_desc, node_name));
+    iceoryx_pubs.emplace_back(std::make_shared<iox::popo::Publisher>(
+      service_desc, iox::cxx::CString100(iox::cxx::TruncateToCapacity, node_name)));  
     iceoryx_pubs.back()->offer();
 
     std::function<void(std::shared_ptr<rmw_serialized_message_t>)> cb =
@@ -268,7 +269,8 @@ int main(int argc, char ** argv)
 
     auto service_desc =
       rmw_iceoryx_cpp::get_iceoryx_service_description(topic, ts);
-    iceoryx_subs.emplace_back(std::make_shared<iox::popo::Subscriber>(service_desc, node_name));
+    iceoryx_subs.emplace_back(std::make_shared<iox::popo::Subscriber>(
+      service_desc, iox::cxx::CString100(iox::cxx::TruncateToCapacity, node_name)));
     iceoryx_subs.back()->subscribe(10);  // TODO(karsten1987): find a decent queue size
 
     auto cb =

rmw_iceoryx_cpp/include/rmw_iceoryx_cpp/iceoryx_name_conversion.hpp

@@ -19,6 +19,7 @@
 #include <tuple>
 
 #include "iceoryx_posh/capro/service_description.hpp"
+#include "iceoryx_utils/cxx/string.hpp"
 
 class rosidl_message_type_support_t;
 

rmw_iceoryx_cpp/src/internal/iceoryx_name_conversion.cpp

@@ -120,10 +120,11 @@ get_iceoryx_service_description(
   type_name = package_name + "/" + type_name;
 
   auto serviceDescriptionTuple = get_service_description_elements(topic_name, type_name);
+
   return iox::capro::ServiceDescription(
-    std::get<0>(serviceDescriptionTuple),
-    std::get<1>(serviceDescriptionTuple),
-    std::get<2>(serviceDescriptionTuple));
+    iox::capro::IdString(iox::cxx::TruncateToCapacity, std::get<0>(serviceDescriptionTuple)),
+    iox::capro::IdString(iox::cxx::TruncateToCapacity, std::get<1>(serviceDescriptionTuple)),
+    iox::capro::IdString(iox::cxx::TruncateToCapacity, std::get<2>(serviceDescriptionTuple)));
 }
 
 }  // namespace rmw_iceoryx_cpp

rmw_iceoryx_cpp/src/internal/iceoryx_topic_names_and_types.cpp

@@ -76,23 +76,23 @@ void fill_topic_containers(
 
       for (auto & receiver : port_sample->m_receiverList) {
         auto name_and_type = rmw_iceoryx_cpp::get_name_n_type_from_iceoryx_service_description(
-          std::string(receiver.m_caproServiceID.to_cstring()),
-          std::string(receiver.m_caproInstanceID.to_cstring()),
-          std::string(receiver.m_caproEventMethodID.to_cstring()));
+          std::string(receiver.m_caproServiceID.c_str()),
+          std::string(receiver.m_caproInstanceID.c_str()),
+          std::string(receiver.m_caproEventMethodID.c_str()));
 
         names_n_types[std::get<0>(name_and_type)] = std::get<1>(name_and_type);
-        subscribers_topics[std::string(receiver.m_runnable.to_cstring())].push_back(
+        subscribers_topics[std::string(receiver.m_runnable.c_str())].push_back(
           std::get<0>(
             name_and_type));
       }
       for (auto & sender : port_sample->m_senderList) {
         auto name_and_type = rmw_iceoryx_cpp::get_name_n_type_from_iceoryx_service_description(
-          std::string(sender.m_caproServiceID.to_cstring()),
-          std::string(sender.m_caproInstanceID.to_cstring()),
-          std::string(sender.m_caproEventMethodID.to_cstring()));
+          std::string(sender.m_caproServiceID.c_str()),
+          std::string(sender.m_caproInstanceID.c_str()),
+          std::string(sender.m_caproEventMethodID.c_str()));
 
         names_n_types[std::get<0>(name_and_type)] = std::get<1>(name_and_type);
-        publishers_topics[std::string(sender.m_runnable.to_cstring())].push_back(
+        publishers_topics[std::string(sender.m_runnable.c_str())].push_back(
           std::get<0>(
             name_and_type));
       }

rmw_iceoryx_cpp/src/rmw_node.cpp

@@ -86,7 +86,8 @@ rmw_create_node(
   }
   RMW_TRY_PLACEMENT_NEW(
     iceoryx_runnable, iceoryx_runnable,
-    goto fail, iox::runtime::Runnable, full_name);
+    goto fail, iox::runtime::Runnable,
+    iox::cxx::CString100(iox::cxx::TruncateToCapacity, full_name));
 
   node_info = static_cast<IceoryxNodeInfo *>(rmw_allocate(sizeof(IceoryxNodeInfo)));
   if (!node_info) {

rmw_iceoryx_cpp/src/rmw_node_names.cpp

@@ -78,7 +78,7 @@ rmw_get_node_names(
       node_names_set.clear();
       for (auto & process : process_sample->m_processList) {
         for (auto & runnable : process.m_runnables) {
-          node_names_set.insert(std::string(runnable.to_cstring()));
+          node_names_set.insert(std::string(runnable.c_str()));
         }
       }
       process_receiver.releaseChunk(latest_chunk_header);

rmw_iceoryx_cpp/src/rmw_publisher.cpp

@@ -95,7 +95,8 @@ rmw_create_publisher(
 
   RMW_TRY_PLACEMENT_NEW(
     iceoryx_sender, iceoryx_sender,
-    goto fail, iox::popo::Publisher, service_description, node_full_name);
+    goto fail, iox::popo::Publisher, service_description,
+    iox::cxx::CString100(iox::cxx::TruncateToCapacity, node_full_name));
   iceoryx_sender->offer();  // make the sender visible
 
   // allocate iceoryx_publisher

rmw_iceoryx_cpp/src/rmw_subscription.cpp

@@ -93,7 +93,8 @@ rmw_create_subscription(
   }
   RMW_TRY_PLACEMENT_NEW(
     iceoryx_receiver, iceoryx_receiver, goto fail,
-    iox::popo::Subscriber, service_description, node_full_name)
+    iox::popo::Subscriber, service_description,
+    iox::cxx::CString100(iox::cxx::TruncateToCapacity, node_full_name))
   // instant subscribe, queue size form qos settings
   iceoryx_receiver->subscribe(qos_policies->depth);