Fix references creation mode. (#60)

Author: Julián Bermúdez Ortega

rmw_microxrcedds_c/src/rmw_node.c

@@ -81,17 +81,21 @@ rmw_node_t * create_node(const char * name, const char * namespace_, size_t doma
     return NULL;
   }
   participant_req =
-    uxr_buffer_create_participant_xml(&node_info->context->session, node_info->context->reliable_output,
+    uxr_buffer_create_participant_xml(
+      &node_info->context->session,
+      node_info->context->reliable_output,
       node_info->participant_id, (uint16_t)domain_id, participant_xml, UXR_REPLACE);
 #elif defined(MICRO_XRCEDDS_USE_REFS)
   char profile_name[RMW_UXRCE_REF_BUFFER_LENGTH];
   if (!build_participant_profile(profile_name, sizeof(profile_name))) {
     RMW_SET_ERROR_MSG("failed to generate xml request for node creation");
     return NULL;
   }
-  participant_req = uxr_buffer_create_participant_ref(&node_info->context->context->session,
+  participant_req =
+    uxr_buffer_create_participant_ref(
+      &node_info->context->session,
       node_info->context->reliable_output,
-      node_info->participant_id, domain_id, profile_name, UXR_REPLACE);
+      node_info->participant_id, (uint16_t)domain_id, profile_name, UXR_REPLACE);
 #endif
   uint8_t status[1];
   uint16_t requests[] = {participant_req};

rmw_microxrcedds_c/src/rmw_publisher.c

@@ -148,15 +148,17 @@ rmw_create_publisher(
       RMW_SET_ERROR_MSG("failed to generate xml request for publisher creation");
       goto fail;
     }
-    publisher_req = uxr_buffer_create_publisher_xml(&custom_publisher->owner_node->context->session,
-        custom_node->context->reliable_output, custom_publisher->publisher_id,
-        custom_node->participant_id, xml_buffer, UXR_REPLACE);
+    publisher_req = uxr_buffer_create_publisher_xml(
+      &custom_publisher->owner_node->context->session,
+      custom_node->context->reliable_output,
+      custom_publisher->publisher_id,
+      custom_node->participant_id, xml_buffer, UXR_REPLACE);
   #elif defined(MICRO_XRCEDDS_USE_REFS)
-    // TODO(BORJA) Publisher by reference does not make sense
-    //             in current micro XRCE-DDS implementation.
-    publisher_req = uxr_buffer_create_publisher_xml(custom_publisher->context->session,
-        custom_node->context->reliable_output, custom_publisher->publisher_id,
-        custom_node->participant_id, "", UXR_REPLACE);
+    publisher_req = uxr_buffer_create_publisher_xml(
+      &custom_publisher->owner_node->context->session,
+      custom_node->context->reliable_output,
+      custom_publisher->publisher_id,
+      custom_node->participant_id, "", UXR_REPLACE);
   #endif
 
     custom_publisher->datawriter_id = uxr_object_id(custom_node->id_gen++, UXR_DATAWRITER_ID);
@@ -170,17 +172,21 @@ rmw_create_publisher(
     }
 
     datawriter_req = uxr_buffer_create_datawriter_xml(
-      &custom_publisher->owner_node->context->session, custom_node->context->reliable_output, custom_publisher->datawriter_id,
+      &custom_publisher->owner_node->context->session,
+      custom_node->context->reliable_output,
+      custom_publisher->datawriter_id,
       custom_publisher->publisher_id, xml_buffer, UXR_REPLACE);
   #elif defined(MICRO_XRCEDDS_USE_REFS)
     if (!build_datawriter_profile(topic_name, profile_name, sizeof(profile_name))) {
       RMW_SET_ERROR_MSG("failed to generate xml request for node creation");
       goto fail;
     }
 
-    datawriter_req = uxr_buffer_create_datawriter_ref(custom_publisher->context->session,
-        custom_node->context->reliable_output, custom_publisher->datawriter_id,
-        custom_publisher->publisher_id, profile_name, UXR_REPLACE);
+    datawriter_req = uxr_buffer_create_datawriter_ref(
+      &custom_publisher->owner_node->context->session,
+      custom_node->context->reliable_output,
+      custom_publisher->datawriter_id,
+      custom_publisher->publisher_id, profile_name, UXR_REPLACE);
   #endif
 
     rmw_publisher->data = custom_publisher;

rmw_microxrcedds_c/src/utils.c

@@ -333,7 +333,7 @@ bool build_participant_profile(char profile_name[], size_t buffer_size)
 
 bool build_topic_profile(const char * topic_name, char profile_name[], size_t buffer_size)
 {
-  const char * const format = "%s_t";
+  const char * const format = "%s__t";
   topic_name++;
   bool ret = false;
   int written = snprintf(profile_name, buffer_size, format, topic_name);
@@ -343,7 +343,7 @@ bool build_topic_profile(const char * topic_name, char profile_name[], size_t bu
 
 bool build_datawriter_profile(const char * topic_name, char profile_name[], size_t buffer_size)
 {
-  const char * const format = "%s_p";
+  const char * const format = "%s__dw";
   topic_name++;
   bool ret = false;
   int written = snprintf(profile_name, buffer_size, format, topic_name);
@@ -353,7 +353,7 @@ bool build_datawriter_profile(const char * topic_name, char profile_name[], size
 
 bool build_datareader_profile(const char * topic_name, char profile_name[], size_t buffer_size)
 {
-  const char * const format = "%s_s";
+  const char * const format = "%s__dr";
   topic_name++;
   bool ret = false;
   int written = snprintf(profile_name, buffer_size, format, topic_name);