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remove partitions #45

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Merged
mikaelarguedas merged 7 commits into from
Jun 8, 2018
Merged

remove partitions #45

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0e856ee
remove partitions
mikaelarguedas Apr 26, 2018
bb3f4aa
Variable rename
dhood Jun 1, 2018
1d5437e
Simplify topic tag
dhood Jun 1, 2018
67e7b0a
fix wrong indent
mikaelarguedas Jun 4, 2018
43f2774
dont add newlines for tags that can have only 1 element
mikaelarguedas Jun 4, 2018
9a622e6
remove now obsolete todo
mikaelarguedas Jun 4, 2018
70bc265
rename variable round 2
mikaelarguedas Jun 4, 2018
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44 changes: 17 additions & 27 deletions sros2/api/__init__.py
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Original file line number Diff line number Diff line change
Expand Up @@ -334,20 +334,17 @@ def create_permission_file(path, name, domain_id, permissions_dict):
permission_str += """\
<%s>
<partitions>
<partition>%s</partition>
<partition></partition>
</partitions>
<topics>
<topic>%s</topic>
</topics>
</%s>
""" % (tag, 'rt', topic_name, tag)
""" % (tag, 'rt/' + topic_name, tag)
# TODO(mikaelarguedas) remove this hardcoded handling for default parameter topics
# TODO(mikaelarguedas) remove the need for empty partition
# (required for Connext at startup),
# see https://github.com/ros2/sros2/issues/32#issuecomment-367388140
service_partitions_prefix = {
'Request': ['', 'rq/%s' % name],
'Reply': ['', 'rr/%s' % name],
service_topic_prefixes = {
'Request': 'rq/%s/' % name,
'Reply': 'rr/%s/' % name,
}
default_parameter_topics = [
'get_parameters',
Expand All @@ -356,33 +353,26 @@ def create_permission_file(path, name, domain_id, permissions_dict):
'list_parameters',
'describe_parameters',
]
for key in service_partitions_prefix.keys():
if key == 'Request':
for topic_suffix, topic_prefix in service_topic_prefixes.items():
if topic_suffix == 'Request':
pubsubtag = 'publish'
else:
pubsubtag = 'subscribe'
tag = 'partition'
partition_string = \
'<%s>' % tag + \
('</%s><%s>' % (tag, tag)).join(
[partition for partition in service_partitions_prefix[key]]) + \
'</%s>' % tag
tag = 'topic'
topics_string = \
'<%s>' % tag + \
('</%s><%s>' % (tag, tag)).join(
[(topic + key) for topic in default_parameter_topics]) + \
'</%s>' % tag
permission_str += """\
service_topics = [
(topic_prefix + topic + topic_suffix) for topic in default_parameter_topics]
topics_string = ''
for service_topic in service_topics:
topics_string += """
<topic>%s</topic>""" % (service_topic)
permission_str += """
<%s>
<partitions>
%s
<partition></partition>
</partitions>
<topics>
%s
<topics>%s
</topics>
</%s>
""" % (pubsubtag, partition_string, topics_string, pubsubtag)
""" % (pubsubtag, topics_string, pubsubtag)

else:
# no policy found: allow everything!
Expand Down