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Use str in mapName function #51

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Use str in mapName function #51

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48 changes: 26 additions & 22 deletions src/stageros.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sstream>

#include <sys/types.h>
#include <sys/stat.h>
Expand Down Expand Up @@ -124,8 +125,8 @@ class StageNode

// Appends the given robot ID to the given message name. If omitRobotID
// is true, an unaltered copy of the name is returned.
const char *mapName(const char *name, size_t robotID, Stg::Model* mod) const;
const char *mapName(const char *name, size_t robotID, size_t deviceID, Stg::Model* mod) const;
std::string mapName(std::string name, size_t robotID, Stg::Model* mod) const;
std::string mapName(std::string name, size_t robotID, size_t deviceID, Stg::Model* mod) const;

tf::TransformBroadcaster tf;

Expand Down Expand Up @@ -170,60 +171,63 @@ class StageNode
};

// since stageros is single-threaded, this is OK. revisit if that changes!
const char *
StageNode::mapName(const char *name, size_t robotID, Stg::Model* mod) const
std::string
StageNode::mapName(std::string name, size_t robotID, Stg::Model* mod) const
{
//ROS_INFO("Robot %lu: Device %s", robotID, name);
bool umn = this->use_model_names;

if ((positionmodels.size() > 1 ) || umn)
{
static char buf[100];
std::string buf;
std::size_t found = std::string(((Stg::Ancestor *) mod)->Token()).find(":");

if ((found==std::string::npos) && umn)
if ((found == std::string::npos) && umn)
{
snprintf(buf, sizeof(buf), "/%s/%s", ((Stg::Ancestor *) mod)->Token(), name);
std::string token(((Stg::Ancestor *) mod)->Token());
buf = "/" + token + "/" + name;
}
else
{
snprintf(buf, sizeof(buf), "/robot_%u/%s", (unsigned int)robotID, name);
std::stringstream rID;
rID << robotID;
buf = "/robot_" + rID.str() + "s/" + name;
}

return buf;
}
else
return name;
}

const char *
StageNode::mapName(const char *name, size_t robotID, size_t deviceID, Stg::Model* mod) const
std::string
StageNode::mapName(std::string name, size_t robotID, size_t deviceID, Stg::Model* mod) const
{
//ROS_INFO("Robot %lu: Device %s:%lu", robotID, name, deviceID);
bool umn = this->use_model_names;
std::string buf;
std::stringstream dID;
dID << deviceID;

if ((positionmodels.size() > 1 ) || umn)
{
static char buf[100];
std::size_t found = std::string(((Stg::Ancestor *) mod)->Token()).find(":");

if ((found==std::string::npos) && umn)
if ((found == std::string::npos) && umn)
{
snprintf(buf, sizeof(buf), "/%s/%s_%u", ((Stg::Ancestor *) mod)->Token(), name, (unsigned int)deviceID);
std::string token(((Stg::Ancestor *) mod)->Token());
buf = "/" + token + "/" + name + "_" + dID.str();
}
else
{
snprintf(buf, sizeof(buf), "/robot_%u/%s_%u", (unsigned int)robotID, name, (unsigned int)deviceID);
std::stringstream rID;
rID << robotID;
buf = "/robot_" + rID.str() + "/" + name + "_" + dID.str();
}

return buf;
}
else
{
static char buf[100];
snprintf(buf, sizeof(buf), "/%s_%u", name, (unsigned int)deviceID);
return buf;
}
buf = "/" + name + "_" + dID.str();

return buf;
}

void
Expand Down