private static IEnumerable <IRecordedMessage> InRelativeTopic(IEnumerable <IRecordedMessage> messages, string relativeTopicNamePattern)
{
using (var regexCache = new RosNameRegexCache())
{
foreach (var message in messages)
{
if (message.IsInRelativeTopic(relativeTopicNamePattern, regexCache))
{
yield return(message);
}
}
}
}
private static bool IsInRelativeTopic(this IRecordedMessage message, string relativeTopicNamePattern,
RosNameRegexCache regexCache = null)
{
var scopedMessage = message as INamespaceScopedTopicMessage <IRecordedMessage>;
if (scopedMessage == null)
{
throw new InvalidRosNamePatternException(
"Relative topic name patterns are only supported if messages were filtered by namespace before.");
}
var globalName = scopedMessage.NamespacePattern + "/" + relativeTopicNamePattern;
var regex = regexCache != null
? regexCache.GetOrCreate(globalName)
: RosNameRegex.Create(globalName);
return(regex.IsMatch(message.Topic));
}
