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Solve of issue #111 #128

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merged 9 commits into from
May 10, 2024
Merged

Solve of issue #111 #128

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300b814
Attempt to solve issue #111
Pops100 Mar 9, 2024
a136fe2
Remove code duplication, update ros_topic_name_to_zenoh_key function
Pops100 Mar 10, 2024
11f3613
Update rmw_zenoh_cpp/src/rmw_zenoh.cpp
shivangvijay Mar 12, 2024
f95fee8
Added const in front of topic name and declare topic_nm
Pops100 Mar 12, 2024
60d27b1
Adding proper variable name
shivangvijay Mar 12, 2024
4556929
Added appropriate variable name
Pops100 Mar 12, 2024
2c2c8d8
/ separater
Pops100 Apr 3, 2024
dc10b2c
Style
Yadunund Apr 18, 2024
eb64962
Merge branch 'rolling' into mangle
Yadunund May 10, 2024
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23 changes: 3 additions & 20 deletions rmw_zenoh_cpp/src/rmw_zenoh.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -81,26 +81,9 @@ namespace
// careful about who owns the string.
z_owned_keyexpr_t ros_topic_name_to_zenoh_key(const char * const topic_name, size_t domain_id)
{
std::string d = std::to_string(domain_id);

size_t start_offset = 0;
size_t topic_name_len = strlen(topic_name);
size_t end_offset = topic_name_len;

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;
}
}

return z_keyexpr_join(
z_keyexpr(d.c_str()),
zc_keyexpr_from_slice(&topic_name[start_offset], end_offset - start_offset));
const std::string keyexpr_str = std::to_string(domain_id) + "/" + liveliness::mangle_name(
topic_name);
return z_keyexpr_new(keyexpr_str.c_str());
}

//==============================================================================
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