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Fix node discovery with dps middleware in ROS2 #124

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Fix node discovery with dps middleware in ROS2 #124

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c0006d8
Fix node discovery with dps middleware in ROS2
talih0 Sep 6, 2020
e16f61d
Realign after previous commit
talih0 Sep 8, 2020
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3 changes: 1 addition & 2 deletions src/discovery.c
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Original file line number Diff line number Diff line change
Expand Up @@ -288,7 +288,6 @@ static DPS_Status DecodeDiscoveryPayload(DPS_DiscoveryService* service, uint8_t

DPS_DiscoveryService* DPS_CreateDiscoveryService(DPS_Node* node, const char* serviceId)
{
static const int noWildcard = DPS_TRUE;
DPS_DiscoveryService* service;
DPS_Status ret;

Expand Down Expand Up @@ -325,7 +324,7 @@ DPS_DiscoveryService* DPS_CreateDiscoveryService(DPS_Node* node, const char* ser
if (ret != DPS_OK) {
goto Exit;
}
ret = DPS_InitPublication(service->pub, (const char**)&service->topic, 1, noWildcard, OnAck);
ret = DPS_InitPublication(service->pub, (const char**)&service->topic, 1, DPS_FALSE, OnAck);
if (ret != DPS_OK) {
goto Exit;
}
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21 changes: 10 additions & 11 deletions src/topics.c
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Original file line number Diff line number Diff line change
Expand Up @@ -144,20 +144,21 @@ DPS_Status DPS_AddTopic(DPS_BitVector* bf, const char* topic, const char* separa
tp = topic + strcspn(topic, separators);
if (!wc) {
DPS_BitVectorBloomInsert(bf, (const uint8_t*)topic, tlen);
if (topicType != DPS_PubTopic) {
return DPS_OK;
}
} else if (wc != topic) {
DPS_BitVectorBloomInsert(bf, (const uint8_t*)topic, wc - topic);
}
if (topicType == DPS_PubNoWild) {
return DPS_OK;
}

segment = malloc(tlen + 1);
if (!segment) {
return DPS_ERR_RESOURCES;
}
while (*tp) {
size_t len;
segment[prefix++] = *tp++;
if (topicType == DPS_PubTopic) {
if (wc != topic) {
DPS_BitVectorBloomInsert(bf, (const uint8_t*)topic, tp - topic);
}
len = strcspn(tp, separators);
Expand All @@ -176,14 +177,12 @@ DPS_Status DPS_AddTopic(DPS_BitVector* bf, const char* topic, const char* separa
tp += len;
}
if (ret == DPS_OK) {
if (topicType == DPS_PubTopic) {
segment[prefix] = INFIX_WILDC;
segment[prefix] = INFIX_WILDC;
DPS_BitVectorBloomInsert(bf, (uint8_t*)segment, prefix + 1);
while (prefix >= 0) {
segment[prefix] = FINAL_WILDC;
DPS_BitVectorBloomInsert(bf, (uint8_t*)segment, prefix + 1);
while (prefix >= 0) {
segment[prefix] = FINAL_WILDC;
DPS_BitVectorBloomInsert(bf, (uint8_t*)segment, prefix + 1);
--prefix;
}
--prefix;
}
}
free(segment);
Expand Down