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Small performance improvments #183

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merged 1 commit into from
Jan 3, 2018
Merged

Small performance improvments #183

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6 changes: 1 addition & 5 deletions rmw_fastrtps_cpp/src/demangle.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -25,11 +25,7 @@
std::string
_demangle_if_ros_topic(const std::string & topic_name)
{
std::string prefix = _get_ros_prefix_if_exists(topic_name);
if (prefix.length()) {
return topic_name.substr(strlen(ros_topic_prefix));
}
return topic_name;
return _strip_ros_prefix_if_exists(topic_name);
}

/// Return the demangled ROS type or the original if not a ROS type.
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16 changes: 14 additions & 2 deletions rmw_fastrtps_cpp/src/namespace_prefix.cpp
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Expand Up @@ -32,10 +32,22 @@ const std::vector<std::string> _ros_prefixes =
std::string
_get_ros_prefix_if_exists(const std::string & topic_name)
{
for (auto prefix : _ros_prefixes) {
if (topic_name.rfind(std::string(prefix) + "/", 0) == 0) {
for (const auto & prefix : _ros_prefixes) {
if (topic_name.rfind(prefix, 0) == 0 && topic_name.at(prefix.length()) == '/') {
return prefix;
}
}
return "";
}

/// Strip the ROS specific prefix if it exists from the topic name.
std::string
_strip_ros_prefix_if_exists(const std::string & topic_name)
{
for (const auto & prefix : _ros_prefixes) {
if (topic_name.rfind(prefix, 0) == 0 && topic_name.at(prefix.length()) == '/') {
return topic_name.substr(prefix.length());
}
}
return topic_name;
}
3 changes: 3 additions & 0 deletions rmw_fastrtps_cpp/src/namespace_prefix.hpp
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Expand Up @@ -31,4 +31,7 @@ extern const std::vector<std::string> _ros_prefixes;
std::string
_get_ros_prefix_if_exists(const std::string & topic_name);

/// Returns the topic name stripped of and ROS specific prefix if exists.
std::string
_strip_ros_prefix_if_exists(const std::string & topic_name);
#endif // NAMESPACE_PREFIX_HPP_
8 changes: 4 additions & 4 deletions rmw_fastrtps_cpp/src/rmw_count.cpp
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Expand Up @@ -51,8 +51,8 @@ rmw_count_publishers(
WriterInfo * slave_target = impl->secondaryPubListener;
slave_target->mapmutex.lock();
*count = 0;
for (auto it : slave_target->topicNtypes) {
auto topic_fqdn = _demangle_if_ros_topic(it.first);
for (const auto & it : slave_target->topicNtypes) {
const auto topic_fqdn = _demangle_if_ros_topic(it.first);
if (topic_fqdn == topic_name) {
*count += it.second.size();
}
Expand Down Expand Up @@ -90,8 +90,8 @@ rmw_count_subscribers(
ReaderInfo * slave_target = impl->secondarySubListener;
*count = 0;
slave_target->mapmutex.lock();
for (auto it : slave_target->topicNtypes) {
auto topic_fqdn = _demangle_if_ros_topic(it.first);
for (const auto & it : slave_target->topicNtypes) {
const auto topic_fqdn = _demangle_if_ros_topic(it.first);
if (topic_fqdn == topic_name) {
*count += it.second.size();
}
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