parsing.hpp

#pragma once
 
#include <string>
 
#include <rclcpp/rclcpp.hpp>
 
namespace modulo_utils::parsing {
 
[[maybe_unused]] static const std::string topic_validation_warning(const std::string& name, const std::string& type) {
  return "The parsed signal name for " + type + " '" + name
      + "' is empty. Provide a string with valid characters for the signal name ([a-z0-9_]).";
}
 
[[maybe_unused]] static std::string
parse_node_name(const rclcpp::NodeOptions& options, const std::string& fallback = "") {
  std::string node_name = fallback;
  const std::string pattern("__node:=");
  for (const auto& arg : options.arguments()) {
    std::string::size_type index = arg.find(pattern);
    if (index != std::string::npos) {
      node_name = arg;
      node_name.erase(index, pattern.length());
      break;
    }
  }
  return node_name;
}
 
[[maybe_unused]] static std::string parse_topic_name(const std::string& topic_name) {
  std::string output;
  for (char c : topic_name) {
    if (c >= 'a' && c <= 'z') {
      output.insert(output.end(), c);
    } else if (!output.empty() && ((c >= '0' && c <= '9') || c == '_')) {
      output.insert(output.end(), c);
    }
  }
  return output;
}
 
}// namespace modulo_utils::parsing