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Centralize topic name creation logic and update to match FastRTPS 1.8…
… API Signed-off-by: Emerson Knapp <eknapp@amazon.com>
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Emerson Knapp
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May 9, 2019
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48 changes: 48 additions & 0 deletions
48
rmw_fastrtps_shared_cpp/include/rmw_fastrtps_shared_cpp/names.hpp
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// 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. | ||
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#ifndef RMW_FASTRTPS_SHARED_CPP__NAMES_HPP_ | ||
#define RMW_FASTRTPS_SHARED_CPP__NAMES_HPP_ | ||
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#include "fastrtps/utils/fixed_size_string.hpp" | ||
#include "rmw/types.h" | ||
#include "namespace_prefix.hpp" | ||
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/// 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(); | ||
} | ||
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#endif // RMW_FASTRTPS_SHARED_CPP__NAMES_HPP_ |
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