Refactor entities creation XML and REF

Author: pablogs9

rmw_microxrcedds_c/src/rmw_client.c

@@ -127,13 +127,24 @@ rmw_create_client(
     }
     client_req = uxr_buffer_create_requester_xml(
       &custom_node->context->session,
-      custom_node->context->reliable_output, custom_client->client_id,
-      custom_node->participant_id, rmw_uxrce_xml_buffer, UXR_REPLACE);
+      custom_node->context->reliable_output, 
+      custom_client->client_id,
+      custom_node->participant_id, 
+      rmw_uxrce_xml_buffer, 
+      UXR_REPLACE);
 #elif defined(MICRO_XRCEDDS_USE_REFS)
-    // TODO(pablogs9): Is possible to instantiate a replier by ref?
-    // client_req = uxr_buffer_create_replier_ref(&custom_node->context->session,
-    //     custom_node->context->reliable_output, custom_service->subscriber_id,
-    //     custom_node->participant_id, "", UXR_REPLACE);
+    if (!build_requester_profile(service_name, rmw_uxrce_profile_name, sizeof(rmw_uxrce_profile_name))) {
+      RMW_SET_ERROR_MSG("failed to generate ref request for client creation");
+      goto fail;
+    }
+
+    client_req = uxr_buffer_create_requester_ref(
+      &custom_node->context->session,
+      custom_node->context->reliable_output, 
+      custom_client->client_id,
+      custom_node->participant_id, 
+      rmw_uxrce_profile_name, 
+      UXR_REPLACE);
 #endif
 
     rmw_client->data = custom_client;

rmw_microxrcedds_c/src/rmw_publisher.c

@@ -185,18 +185,22 @@ rmw_create_publisher(
       &custom_publisher->owner_node->context->session,
       custom_node->context->reliable_output,
       custom_publisher->datawriter_id,
-      custom_publisher->publisher_id, rmw_uxrce_xml_buffer, UXR_REPLACE);
+      custom_publisher->publisher_id, 
+      rmw_uxrce_xml_buffer, 
+      UXR_REPLACE);
   #elif defined(MICRO_XRCEDDS_USE_REFS)
     if (!build_datawriter_profile(topic_name, rmw_uxrce_profile_name, sizeof(rmw_uxrce_profile_name))) {
-      RMW_SET_ERROR_MSG("failed to generate xml request for node creation");
+      RMW_SET_ERROR_MSG("failed to generate ref request datawriter creation");
       goto fail;
     }
 
     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, rmw_uxrce_profile_name, UXR_REPLACE);
+      custom_publisher->publisher_id, 
+      rmw_uxrce_profile_name, 
+      UXR_REPLACE);
   #endif
 
     rmw_publisher->data = custom_publisher;

rmw_microxrcedds_c/src/rmw_service.c

@@ -127,10 +127,18 @@ rmw_create_service(
       custom_node->context->reliable_output, custom_service->service_id,
       custom_node->participant_id, rmw_uxrce_xml_buffer, UXR_REPLACE);
 #elif defined(MICRO_XRCEDDS_USE_REFS)
-    // CHECK IF THIS IS NECESSARY
-    // service_req = uxr_buffer_create_replier_ref(&custom_node->context->session,
-    //     custom_node->context->reliable_output, custom_service->subscriber_id,
-    //     custom_node->participant_id, "", UXR_REPLACE);
+    if (!build_replier_profile(service_name, rmw_uxrce_profile_name, sizeof(rmw_uxrce_profile_name))) {
+      RMW_SET_ERROR_MSG("failed to generate ref request for service creation");
+      goto fail;
+    }
+
+    service_req = uxr_buffer_create_replier_ref(
+      &custom_node->context->session,
+      custom_node->context->reliable_output, 
+      custom_client->client_id,
+      custom_node->participant_id, 
+      rmw_uxrce_profile_name, 
+      UXR_REPLACE);
 #endif
 
     rmw_service->data = custom_service;

rmw_microxrcedds_c/src/rmw_subscription.c

@@ -158,12 +158,13 @@ rmw_create_subscription(
       custom_node->context->reliable_output, custom_subscription->subscriber_id,
       custom_node->participant_id, rmw_uxrce_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.
     subscriber_req = uxr_buffer_create_subscriber_xml(
       &custom_node->context->session,
-      custom_node->context->reliable_output, custom_subscription->subscriber_id,
-      custom_node->participant_id, "", UXR_REPLACE);
+      custom_node->context->reliable_output, 
+      custom_subscription->subscriber_id,
+      custom_node->participant_id, 
+      "", 
+      UXR_REPLACE);
 #endif
 
 
@@ -184,18 +185,24 @@ rmw_create_subscription(
 
     datareader_req = uxr_buffer_create_datareader_xml(
       &custom_node->context->session,
-      custom_node->context->reliable_output, custom_subscription->datareader_id,
-      custom_subscription->subscriber_id, rmw_uxrce_xml_buffer, UXR_REPLACE);
+      custom_node->context->reliable_output, 
+      custom_subscription->datareader_id,
+      custom_subscription->subscriber_id, 
+      rmw_uxrce_xml_buffer, 
+      UXR_REPLACE);
 #elif defined(MICRO_XRCEDDS_USE_REFS)
     if (!build_datareader_profile(topic_name, rmw_uxrce_profile_name, sizeof(rmw_uxrce_profile_name))) {
-      RMW_SET_ERROR_MSG("failed to generate xml request for node creation");
+      RMW_SET_ERROR_MSG("failed to generate ref request for datareader creation");
       goto fail;
     }
 
     datareader_req = uxr_buffer_create_datareader_ref(
       &custom_node->context->session,
-      custom_node->context->reliable_output, custom_subscription->datareader_id,
-      custom_subscription->subscriber_id, rmw_uxrce_profile_name, UXR_REPLACE);
+      custom_node->context->reliable_output, 
+      custom_subscription->datareader_id,
+      custom_subscription->subscriber_id, 
+      rmw_uxrce_profile_name, 
+      UXR_REPLACE);
 #endif
 
     rmw_subscription->data = custom_subscription;

rmw_microxrcedds_c/src/utils.c

@@ -374,4 +374,23 @@ bool is_uxrce_rmw_identifier_valid(const char * id)
 {
   return id != NULL &&
          strcmp(id, rmw_get_implementation_identifier()) == 0;
-}
+}
+bool build_requester_profile(const char * service_name, char profile_name[], size_t buffer_size)
+{
+  const char * const format = "%s___requester";
+  topic_name++;
+  bool ret = false;
+  int written = snprintf(profile_name, buffer_size, format, service_name);
+  ret = (written > 0) && (written < (int)buffer_size);
+  return ret;
+}
+
+bool build_replier_profile(const char * service_name, char profile_name[], size_t buffer_size)
+{
+  const char * const format = "%s___replier";
+  topic_name++;
+  bool ret = false;
+  int written = snprintf(profile_name, buffer_size, format, service_name);
+  ret = (written > 0) && (written < (int)buffer_size);
+  return ret;
+}