Move topic name to topic object

Signed-off-by: Pablo Garrido <pablogs9@gmail.com>

Author: pablogs9

rmw_microxrcedds_c/src/rmw_microros_internal/types.h

@@ -121,6 +121,7 @@ typedef struct rmw_uxrce_topic_t
 
   uxrObjectId topic_id;
   const message_type_support_callbacks_t * message_type_support_callbacks;
+  char topic_name[RMW_UXRCE_TOPIC_NAME_MAX_LENGTH];
 
   struct rmw_uxrce_node_t * owner_node;
 } rmw_uxrce_topic_t;
@@ -173,7 +174,6 @@ typedef struct rmw_uxrce_subscription_t
   uxrStreamId stream_id;
 
   rmw_subscription_t rmw_subscription;
-  char topic_name[RMW_UXRCE_TOPIC_NAME_MAX_LENGTH];
 } rmw_uxrce_subscription_t;
 
 typedef struct rmw_uxrce_publisher_t
@@ -196,7 +196,6 @@ typedef struct rmw_uxrce_publisher_t
   struct rmw_uxrce_node_t * owner_node;
 
   rmw_publisher_t rmw_publisher;
-  char topic_name[RMW_UXRCE_TOPIC_NAME_MAX_LENGTH];
 } rmw_uxrce_publisher_t;
 
 typedef struct rmw_uxrce_node_t

rmw_microxrcedds_c/src/rmw_microxrcedds_topic.c

@@ -49,6 +49,16 @@ create_topic(
   // Generate topic id
   custom_topic->topic_id = uxr_object_id(custom_node->context->id_topic++, UXR_TOPIC_ID);
 
+  if ((strlen(topic_name) + 1 ) > sizeof(custom_topic->topic_name)) {
+    RMW_UROS_TRACE_MESSAGE("failed to allocate string")
+    rmw_uxrce_fini_topic_memory(custom_topic);
+    custom_topic = NULL;
+    goto fail;
+  }
+  snprintf(
+    (char *)custom_topic->topic_name, sizeof(custom_topic->topic_name), "%s",
+    topic_name);
+
   // Generate request
   uint16_t topic_req = 0;
 #ifdef RMW_UXRCE_USE_REFS

rmw_microxrcedds_c/src/rmw_publisher.c

@@ -90,15 +90,6 @@ rmw_create_publisher(
     rmw_publisher = &custom_publisher->rmw_publisher;
     rmw_publisher->data = NULL;
     rmw_publisher->implementation_identifier = rmw_get_implementation_identifier();
-    rmw_publisher->topic_name = custom_publisher->topic_name;
-
-    if ((strlen(topic_name) + 1 ) > sizeof(custom_publisher->topic_name)) {
-      RMW_UROS_TRACE_MESSAGE("failed to allocate string")
-      goto fail;
-    }
-    snprintf(
-      (char *)rmw_publisher->topic_name, sizeof(custom_publisher->topic_name), "%s",
-      topic_name);
 
     custom_publisher->owner_node = custom_node;
     custom_publisher->session_timeout = RMW_UXRCE_PUBLISH_RELIABLE_TIMEOUT;
@@ -146,6 +137,8 @@ rmw_create_publisher(
       goto fail;
     }
 
+    rmw_publisher->topic_name = custom_publisher->topic->topic_name;
+
     // Create publisher
     custom_publisher->publisher_id = uxr_object_id(
       custom_node->context->id_publisher++,

rmw_microxrcedds_c/src/rmw_subscription.c

@@ -90,15 +90,6 @@ rmw_create_subscription(
     rmw_subscription = &custom_subscription->rmw_subscription;
     rmw_subscription->data = NULL;
     rmw_subscription->implementation_identifier = rmw_get_implementation_identifier();
-    rmw_subscription->topic_name = custom_subscription->topic_name;
-    if ((strlen(topic_name) + 1 ) > sizeof(custom_subscription->topic_name)) {
-      RMW_UROS_TRACE_MESSAGE("failed to allocate string")
-      goto fail;
-    }
-
-    snprintf(
-      (char *)rmw_subscription->topic_name, sizeof(custom_subscription->topic_name), "%s",
-      topic_name);
 
     custom_subscription->owner_node = custom_node;
     custom_subscription->qos = *qos_policies;
@@ -135,6 +126,8 @@ rmw_create_subscription(
       goto fail;
     }
 
+    rmw_subscription->topic_name = custom_subscription->topic->topic_name;
+
     // Create subscriber
     custom_subscription->subscriber_id = uxr_object_id(
       custom_node->context->id_subscriber++,