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Generate valid topics depending on world name #163

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Generate valid topics depending on world name #163

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14 changes: 14 additions & 0 deletions src/plugins/world_control/WorldControl.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -124,6 +124,14 @@ void WorldControl::LoadConfig(const tinyxml2::XMLElement *_pluginElem)

this->dataPtr->controlService = "/world/" + worldName + "/control";
}
this->dataPtr->controlService = transport::TopicUtils::AsValidTopic(
this->dataPtr->controlService);

if (this->dataPtr->controlService.empty())
{
ignerr << "Failed to create valid control service for world [" << worldName
<< "]" << std::endl;
}

ignmsg << "Using world control service [" << this->dataPtr->controlService
<< "]" << std::endl;
Expand Down Expand Up @@ -185,6 +193,7 @@ void WorldControl::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
statsTopic = "/world/" + worldName + "/stats";
}

statsTopic = transport::TopicUtils::AsValidTopic(statsTopic);
if (!statsTopic.empty())
{
// Subscribe to world_stats
Expand All @@ -198,6 +207,11 @@ void WorldControl::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
ignmsg << "Listening to stats on [" << statsTopic << "]" << std::endl;
}
}
else
{
ignerr << "Failed to create valid topic for world [" << worldName << "]"
<< std::endl;
}
}

/////////////////////////////////////////////////
Expand Down
8 changes: 8 additions & 0 deletions src/plugins/world_stats/WorldStats.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -128,6 +128,14 @@ void WorldStats::LoadConfig(const tinyxml2::XMLElement *_pluginElem)
topic = "/world/" + worldName + "/stats";
}

topic = transport::TopicUtils::AsValidTopic(topic);
if (topic.empty())
{
ignerr << "Failed to create valid topic for world [" << worldName << "]"
<< std::endl;
return;
}

if (!this->dataPtr->node.Subscribe(topic, &WorldStats::OnWorldStatsMsg,
this))
{
Expand Down