Upgrades to support Fast-RTPS 1.8.0

rmw_fastrtps_cpp/src/rmw_client.cpp

@@ -21,6 +21,7 @@
 
 #include "rmw_fastrtps_shared_cpp/custom_client_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
+#include "rmw_fastrtps_shared_cpp/names.hpp"
 #include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 #include "rmw_fastrtps_shared_cpp/qos.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
@@ -129,12 +130,8 @@ rmw_create_client(
 
   subscriberParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   subscriberParam.topic.topicDataType = response_type_name;
-  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";
+  subscriberParam.topic.topicName = _create_topic_name(
+    qos_policies, ros_service_response_prefix, service_name, "Reply");
 
   if (!impl->leave_middleware_default_qos) {
     publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
@@ -144,12 +141,8 @@ rmw_create_client(
 
   publisherParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   publisherParam.topic.topicDataType = request_type_name;
-  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";
+  publisherParam.topic.topicName = _create_topic_name(
+    qos_policies, ros_service_requester_prefix, service_name, "Request");
 
   RCUTILS_LOG_DEBUG_NAMED(
     "rmw_fastrtps_cpp",

rmw_fastrtps_cpp/src/rmw_publisher.cpp

@@ -20,6 +20,7 @@
 
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_publisher_info.hpp"
+#include "rmw_fastrtps_shared_cpp/names.hpp"
 #include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 #include "rmw_fastrtps_shared_cpp/qos.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
@@ -148,11 +149,7 @@ rmw_create_publisher(
 
   publisherParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   publisherParam.topic.topicDataType = type_name;
-  if (!qos_policies->avoid_ros_namespace_conventions) {
-    publisherParam.topic.topicName = std::string(ros_topic_prefix) + topic_name;
-  } else {
-    publisherParam.topic.topicName = topic_name;
-  }
+  publisherParam.topic.topicName = _create_topic_name(qos_policies, ros_topic_prefix, topic_name);
 
   // 1 Heartbeat every 10ms
   // publisherParam.times.heartbeatPeriod.seconds = 0;

rmw_fastrtps_cpp/src/rmw_service.cpp

@@ -32,6 +32,7 @@
 
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_service_info.hpp"
+#include "rmw_fastrtps_shared_cpp/names.hpp"
 #include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 #include "rmw_fastrtps_shared_cpp/qos.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
@@ -139,12 +140,8 @@ rmw_create_service(
 
   subscriberParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   subscriberParam.topic.topicDataType = request_type_name;
-  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";
+  subscriberParam.topic.topicName = _create_topic_name(
+    qos_policies, ros_service_requester_prefix, service_name, "Request");
 
   if (!impl->leave_middleware_default_qos) {
     publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
@@ -154,12 +151,8 @@ rmw_create_service(
 
   publisherParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   publisherParam.topic.topicDataType = response_type_name;
-  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";
+  publisherParam.topic.topicName = _create_topic_name(
+    qos_policies, ros_service_response_prefix, service_name, "Reply");
 
   RCUTILS_LOG_DEBUG_NAMED(
     "rmw_fastrtps_cpp",

rmw_fastrtps_cpp/src/rmw_subscription.cpp

@@ -21,6 +21,7 @@
 
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp"
+#include "rmw_fastrtps_shared_cpp/names.hpp"
 #include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 #include "rmw_fastrtps_shared_cpp/qos.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
@@ -150,11 +151,7 @@ rmw_create_subscription(
 
   subscriberParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   subscriberParam.topic.topicDataType = type_name;
-  if (!qos_policies->avoid_ros_namespace_conventions) {
-    subscriberParam.topic.topicName = std::string(ros_topic_prefix) + topic_name;
-  } else {
-    subscriberParam.topic.topicName = topic_name;
-  }
+  subscriberParam.topic.topicName = _create_topic_name(qos_policies, ros_topic_prefix, topic_name);
 
   if (!get_datareader_qos(*qos_policies, subscriberParam)) {
     RMW_SET_ERROR_MSG("failed to get datareader qos");

rmw_fastrtps_dynamic_cpp/src/rmw_client.cpp

@@ -25,6 +25,7 @@
 
 #include "rmw_fastrtps_shared_cpp/custom_client_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
+#include "rmw_fastrtps_shared_cpp/names.hpp"
 #include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 #include "rmw_fastrtps_shared_cpp/qos.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
@@ -136,12 +137,8 @@ rmw_create_client(
 
   subscriberParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   subscriberParam.topic.topicDataType = response_type_name;
-  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";
+  subscriberParam.topic.topicName = _create_topic_name(
+    qos_policies, ros_service_response_prefix, service_name, "Reply");
 
   if (!impl->leave_middleware_default_qos) {
     publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
@@ -151,12 +148,8 @@ rmw_create_client(
 
   publisherParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   publisherParam.topic.topicDataType = request_type_name;
-  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";
+  publisherParam.topic.topicName = _create_topic_name(
+    qos_policies, ros_service_requester_prefix, service_name, "Request");
 
   RCUTILS_LOG_DEBUG_NAMED(
     "rmw_fastrtps_dynamic_cpp",

rmw_fastrtps_dynamic_cpp/src/rmw_publisher.cpp

@@ -20,6 +20,7 @@
 
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_publisher_info.hpp"
+#include "rmw_fastrtps_shared_cpp/names.hpp"
 #include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 #include "rmw_fastrtps_shared_cpp/qos.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
@@ -144,11 +145,7 @@ rmw_create_publisher(
 
   publisherParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   publisherParam.topic.topicDataType = type_name;
-  if (!qos_policies->avoid_ros_namespace_conventions) {
-    publisherParam.topic.topicName = std::string(ros_topic_prefix) + topic_name;
-  } else {
-    publisherParam.topic.topicName = topic_name;
-  }
+  publisherParam.topic.topicName = _create_topic_name(qos_policies, ros_topic_prefix, topic_name);
 
   // 1 Heartbeat every 10ms
   // publisherParam.times.heartbeatPeriod.seconds = 0;

rmw_fastrtps_dynamic_cpp/src/rmw_service.cpp

@@ -37,6 +37,7 @@
 
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_service_info.hpp"
+#include "rmw_fastrtps_shared_cpp/names.hpp"
 #include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 #include "rmw_fastrtps_shared_cpp/qos.hpp"
 
@@ -146,12 +147,8 @@ rmw_create_service(
 
   subscriberParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   subscriberParam.topic.topicDataType = request_type_name;
-  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";
+  subscriberParam.topic.topicName = _create_topic_name(
+    qos_policies, ros_service_requester_prefix, service_name, "Request");
 
   if (!impl->leave_middleware_default_qos) {
     publisherParam.qos.m_publishMode.kind = eprosima::fastrtps::ASYNCHRONOUS_PUBLISH_MODE;
@@ -161,12 +158,8 @@ rmw_create_service(
 
   publisherParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   publisherParam.topic.topicDataType = response_type_name;
-  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";
+  publisherParam.topic.topicName = _create_topic_name(
+    qos_policies, ros_service_response_prefix, service_name, "Reply");
 
   RCUTILS_LOG_DEBUG_NAMED(
     "rmw_fastrtps_dynamic_cpp",

rmw_fastrtps_dynamic_cpp/src/rmw_subscription.cpp

@@ -21,6 +21,7 @@
 
 #include "rmw_fastrtps_shared_cpp/custom_participant_info.hpp"
 #include "rmw_fastrtps_shared_cpp/custom_subscriber_info.hpp"
+#include "rmw_fastrtps_shared_cpp/names.hpp"
 #include "rmw_fastrtps_shared_cpp/namespace_prefix.hpp"
 #include "rmw_fastrtps_shared_cpp/qos.hpp"
 #include "rmw_fastrtps_shared_cpp/rmw_common.hpp"
@@ -146,11 +147,7 @@ rmw_create_subscription(
 
   subscriberParam.topic.topicKind = eprosima::fastrtps::rtps::NO_KEY;
   subscriberParam.topic.topicDataType = type_name;
-  if (!qos_policies->avoid_ros_namespace_conventions) {
-    subscriberParam.topic.topicName = std::string(ros_topic_prefix) + topic_name;
-  } else {
-    subscriberParam.topic.topicName = topic_name;
-  }
+  subscriberParam.topic.topicName = _create_topic_name(qos_policies, ros_topic_prefix, topic_name);
 
   if (!get_datareader_qos(*qos_policies, subscriberParam)) {
     RMW_SET_ERROR_MSG("failed to get datareader qos");

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/custom_participant_info.hpp

@@ -161,16 +161,15 @@ class ParticipantListener : public eprosima::fastrtps::ParticipantListener
     auto & topic_cache =
       is_reader ? reader_topic_cache : writer_topic_cache;
 
-    auto fqdn = proxyData.topicName();
     bool trigger;
     {
       std::lock_guard<std::mutex> guard(topic_cache.getMutex());
       if (is_alive) {
         trigger = topic_cache().addTopic(proxyData.RTPSParticipantKey(),
-            proxyData.topicName(), proxyData.typeName());
+            proxyData.topicName().to_string(), proxyData.typeName().to_string());
       } else {
         trigger = topic_cache().removeTopic(proxyData.RTPSParticipantKey(),
-            proxyData.topicName(), proxyData.typeName());
+            proxyData.topicName().to_string(), proxyData.typeName().to_string());
       }
     }
     if (trigger) {

rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/names.hpp

@@ -0,0 +1,48 @@
+// Copyright 2019 Amazon.com, Inc. or its affiliates. All Rights Reserved.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef RMW_FASTRTPS_SHARED_CPP__NAMES_HPP_
+#define RMW_FASTRTPS_SHARED_CPP__NAMES_HPP_
+
+#include "fastrtps/utils/fixed_size_string.hpp"
+#include "rmw/types.h"
+#include "namespace_prefix.hpp"
+
+/// Construct a topic name according to proper conventions.
+/**
+  * \param[in] qos_profile The QoS profile for the topic.
+  * \param[in] prefix Required prefix for topic name.
+  * \param[in] base Required name of the topic.
+  * \param[in] suffix Optional suffix for topic name.
+  */
+inline
+eprosima::fastrtps::string_255
+_create_topic_name(
+  const rmw_qos_profile_t * qos_profile,
+  const char * prefix,
+  const char * base,
+  const char * suffix = nullptr)
+{
+  std::ostringstream topicName;
+  if (!qos_profile->avoid_ros_namespace_conventions && prefix) {
+    topicName << prefix;
+  }
+  topicName << base;
+  if (suffix) {
+    topicName << suffix;
+  }
+  return topicName.str();
+}
+
+#endif  // RMW_FASTRTPS_SHARED_CPP__NAMES_HPP_

rmw_fastrtps_shared_cpp/src/rmw_service_server_is_available.cpp

@@ -64,12 +64,12 @@ __rmw_service_server_is_available(
   }
 
   auto pub_topic_name =
-    client_info->request_publisher_->getAttributes().topic.getTopicName();
+    client_info->request_publisher_->getAttributes().topic.getTopicName().to_string();
 
   auto pub_fqdn = _demangle_if_ros_topic(pub_topic_name);
 
   auto sub_topic_name =
-    client_info->response_subscriber_->getAttributes().topic.getTopicName();
+    client_info->response_subscriber_->getAttributes().topic.getTopicName().to_string();
 
   auto sub_fqdn = _demangle_if_ros_topic(sub_topic_name);