Use rcpputils::find_and_replace instead of std::regex_replace (#291)

The rcpputils implementation is more performant.

Signed-off-by: Jacob Perron <[email protected]>

rmw_fastrtps_dynamic_cpp/CMakeLists.txt

@@ -31,6 +31,7 @@ endif()
 
 find_package(ament_cmake_ros REQUIRED)
 
+find_package(rcpputils REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(rmw_fastrtps_shared_cpp REQUIRED)
 
@@ -90,6 +91,7 @@ target_link_libraries(rmw_fastrtps_dynamic_cpp
 
 # specific order: dependents before dependencies
 ament_target_dependencies(rmw_fastrtps_dynamic_cpp
+  "rcpputils"
   "rcutils"
   "rosidl_typesupport_fastrtps_c"
   "rosidl_typesupport_fastrtps_cpp"
@@ -114,6 +116,7 @@ ament_export_libraries(rmw_fastrtps_dynamic_cpp)
 ament_export_dependencies(rosidl_typesupport_introspection_cpp)
 ament_export_dependencies(rosidl_typesupport_introspection_c)
 ament_export_dependencies(rosidl_generator_c)
+ament_export_dependencies(rcpputils)
 ament_export_dependencies(rcutils)
 ament_export_dependencies(rmw_fastrtps_shared_cpp)
 ament_export_dependencies(rmw)

rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/MessageTypeSupport_impl.hpp

@@ -20,10 +20,11 @@
 
 #include <cassert>
 #include <memory>
-#include <regex>
 #include <sstream>
 #include <string>
 
+#include "rcpputils/find_and_replace.hpp"
+
 #include "rmw_fastrtps_dynamic_cpp/MessageTypeSupport.hpp"
 #include "rosidl_typesupport_introspection_cpp/field_types.hpp"
 
@@ -41,7 +42,7 @@ MessageTypeSupport<MembersType>::MessageTypeSupport(const MembersType * members)
   std::string message_name(this->members_->message_name_);
   if (!message_namespace.empty()) {
     // Find and replace C namespace separator with C++, in case this is using C typesupport
-    message_namespace = std::regex_replace(message_namespace, std::regex("__"), "::");
+    message_namespace = rcpputils::find_and_replace(message_namespace, "__", "::");
     ss << message_namespace << "::";
   }
   ss << "dds_::" << message_name << "_";

rmw_fastrtps_dynamic_cpp/include/rmw_fastrtps_dynamic_cpp/ServiceTypeSupport_impl.hpp

@@ -18,10 +18,11 @@
 #include <fastcdr/FastBuffer.h>
 #include <fastcdr/Cdr.h>
 #include <cassert>
-#include <regex>
 #include <sstream>
 #include <string>
 
+#include "rcpputils/find_and_replace.hpp"
+
 #include "rmw_fastrtps_dynamic_cpp/ServiceTypeSupport.hpp"
 #include "rosidl_typesupport_introspection_cpp/field_types.hpp"
 
@@ -45,7 +46,7 @@ RequestTypeSupport<ServiceMembersType, MessageMembersType>::RequestTypeSupport(
   std::string service_name(members->service_name_);
   if (!service_namespace.empty()) {
     // Find and replace C namespace separator with C++, in case this is using C typesupport
-    service_namespace = std::regex_replace(service_namespace, std::regex("__"), "::");
+    service_namespace = rcpputils::find_and_replace(service_namespace, "__", "::");
     ss << service_namespace << "::";
   }
   ss << "dds_::" << service_name << "_Request_";
@@ -74,7 +75,7 @@ ResponseTypeSupport<ServiceMembersType, MessageMembersType>::ResponseTypeSupport
   std::string service_name(members->service_name_);
   if (!service_namespace.empty()) {
     // Find and replace C namespace separator with C++, in case this is using C typesupport
-    service_namespace = std::regex_replace(service_namespace, std::regex("__"), "::");
+    service_namespace = rcpputils::find_and_replace(service_namespace, "__", "::");
     ss << service_namespace << "::";
   }
   ss << "dds_::" << service_name << "_Response_";

rmw_fastrtps_dynamic_cpp/package.xml

@@ -16,6 +16,7 @@
   <build_depend>fastcdr</build_depend>
   <build_depend>fastrtps</build_depend>
   <build_depend>fastrtps_cmake_module</build_depend>
+  <build_depend>rcpputils</build_depend>
   <build_depend>rcutils</build_depend>
   <build_depend>rmw</build_depend>
   <build_depend>rmw_fastrtps_shared_cpp</build_depend>
@@ -28,6 +29,7 @@
   <build_export_depend>fastcdr</build_export_depend>
   <build_export_depend>fastrtps</build_export_depend>
   <build_export_depend>fastrtps_cmake_module</build_export_depend>
+  <build_export_depend>rcpputils</build_export_depend>
   <build_export_depend>rcutils</build_export_depend>
   <build_export_depend>rmw</build_export_depend>
   <build_export_depend>rmw_fastrtps_shared_cpp</build_export_depend>

rmw_fastrtps_dynamic_cpp/src/type_support_common.hpp

@@ -15,13 +15,14 @@
 #ifndef TYPE_SUPPORT_COMMON_HPP_
 #define TYPE_SUPPORT_COMMON_HPP_
 
-#include <regex>
 #include <sstream>
 #include <string>
 
 #include "fastrtps/Domain.h"
 #include "fastrtps/participant/Participant.h"
 
+#include "rcpputils/find_and_replace.hpp"
+
 #include "rmw/error_handling.h"
 
 #include "rmw_fastrtps_shared_cpp/TypeSupport.hpp"
@@ -85,7 +86,7 @@ _create_type_name(
   std::ostringstream ss;
   std::string message_namespace(members->message_namespace_);
   // Find and replace C namespace separator with C++, in case this is using C typesupport
-  message_namespace = std::regex_replace(message_namespace, std::regex("__"), "::");
+  message_namespace = rcpputils::find_and_replace(message_namespace, "__", "::");
   std::string message_name(members->message_name_);
   if (!message_namespace.empty()) {
     ss << message_namespace << "::";

rmw_fastrtps_shared_cpp/src/demangle.cpp

@@ -13,10 +13,10 @@
 // limitations under the License.
 
 #include <algorithm>
-#include <regex>
 #include <string>
 #include <vector>
 
+#include "rcpputils/find_and_replace.hpp"
 #include "rcutils/logging_macros.h"
 #include "rcutils/types.h"
 
@@ -46,7 +46,7 @@ _demangle_if_ros_type(const std::string & dds_type_string)
   }
 
   std::string type_namespace = dds_type_string.substr(0, substring_position);
-  type_namespace = std::regex_replace(type_namespace, std::regex("::"), "/");
+  type_namespace = rcpputils::find_and_replace(type_namespace, "::", "/");
   size_t start = substring_position + substring.size();
   std::string type_name = dds_type_string.substr(start, dds_type_string.length() - 1 - start);
   return type_namespace + type_name;
@@ -145,7 +145,7 @@ _demangle_service_type_only(const std::string & dds_type_name)
   // everything checks out, reformat it from '[type_namespace::]dds_::<type><suffix>'
   // to '[type_namespace/]<type>'
   std::string type_namespace = dds_type_name.substr(0, ns_substring_position);
-  type_namespace = std::regex_replace(type_namespace, std::regex("::"), "/");
+  type_namespace = rcpputils::find_and_replace(type_namespace, "::", "/");
   size_t start = ns_substring_position + ns_substring.length();
   std::string type_name = dds_type_name.substr(start, suffix_position - start);
   return type_namespace + type_name;