Fix type_name between c and c++ type support

Signed-off-by: Ricardo González <[email protected]>
ros2 · Oct 4, 2024 · 81ad0af · 81ad0af
1 parent ca7aeab
commit 81ad0af
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Showing 2 changed files with 11 additions and 3 deletions.
diff --git a/rmw_fastrtps_cpp/src/type_support_common.hpp b/rmw_fastrtps_cpp/src/type_support_common.hpp
@@ -18,6 +18,8 @@
 #include <sstream>
 #include <string>
 
+#include "rcpputils/find_and_replace.hpp"
+
 #include "rmw/error_handling.h"
 
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
@@ -46,7 +48,9 @@ _create_type_name(
 {
   std::ostringstream ss;
   if (!message_namespace.empty()) {
-    ss << message_namespace << "::";
+    // Find and replace C namespace separator with C++, in case this is using C typesupport
+    std::string message_namespace_new = rcpputils::find_and_replace(message_namespace, "__", "::");
+    ss << message_namespace_new << "::";
   }
   ss << "dds_::" << message_name << "_";
   return ss.str();

diff --git a/rmw_fastrtps_shared_cpp/src/TypeSupport_impl.cpp b/rmw_fastrtps_shared_cpp/src/TypeSupport_impl.cpp
@@ -28,8 +28,10 @@
 #include "fastdds/dds/xtypes/dynamic_types/DynamicData.hpp"
 #include "fastdds/dds/xtypes/dynamic_types/DynamicPubSubType.hpp"
 #include "fastdds/dds/xtypes/type_representation/ITypeObjectRegistry.hpp"
-#include <fastdds/dds/xtypes/type_representation/TypeObject.hpp>
-#include <fastdds/dds/xtypes/type_representation/TypeObjectUtils.hpp>
+#include "fastdds/dds/xtypes/type_representation/TypeObject.hpp"
+#include "fastdds/dds/xtypes/type_representation/TypeObjectUtils.hpp"
+
+#include "rcpputils/find_and_replace.hpp"
 
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
 #include "rmw/error_handling.h"
@@ -246,6 +248,8 @@ _create_type_name(const MembersType * members)
   std::string message_namespace(members->message_namespace_);
   std::string message_name(members->message_name_);
   if (!message_namespace.empty()) {
+    // Find and replace C namespace separator with C++, in case this is using C typesupport
+    message_namespace = rcpputils::find_and_replace(message_namespace, "__", "::");
     ss << message_namespace << "::";
   }
   ss << "dds_::" << message_name << "_";