From 546aa8b11db3cd84d9422ecdd6b464b449674d3a Mon Sep 17 00:00:00 2001
From: Ezra Brooks <ezra@brooks.cx>
Date: Thu, 26 Dec 2024 14:27:13 -0700
Subject: [PATCH] Fix slashes in topic names

---
 src/image_streamer.cpp   | 3 ++-
 src/web_video_server.cpp | 3 ++-
 2 files changed, 4 insertions(+), 2 deletions(-)

diff --git a/src/image_streamer.cpp b/src/image_streamer.cpp
index 8a83958..83e8c9c 100644
--- a/src/image_streamer.cpp
+++ b/src/image_streamer.cpp
@@ -37,6 +37,7 @@
 #endif
 
 #include <iostream>
+#include <regex>
 
 namespace web_video_server
 {
@@ -46,7 +47,7 @@ ImageStreamer::ImageStreamer(
   async_web_server_cpp::HttpConnectionPtr connection, rclcpp::Node::SharedPtr node)
 : request_(request), connection_(connection), node_(node), inactive_(false)
 {
-  topic_ = request.get_query_param_value_or_default("topic", "");
+  topic_ = std::regex_replace(request.get_query_param_value_or_default("topic", ""), std::regex(R"(%2F)"), "/");
 }
 
 ImageStreamer::~ImageStreamer()
diff --git a/src/web_video_server.cpp b/src/web_video_server.cpp
index 5f548c3..30a6fe9 100644
--- a/src/web_video_server.cpp
+++ b/src/web_video_server.cpp
@@ -32,6 +32,7 @@
 
 #include <chrono>
 #include <vector>
+#include <regex>
 
 #include <boost/algorithm/string/predicate.hpp>
 #include <opencv2/opencv.hpp>
@@ -172,7 +173,7 @@ bool WebVideoServer::handle_stream(
 {
   std::string type = request.get_query_param_value_or_default("type", default_stream_type_);
   if (stream_types_.find(type) != stream_types_.end()) {
-    std::string topic = request.get_query_param_value_or_default("topic", "");
+    std::string topic = std::regex_replace(request.get_query_param_value_or_default("topic", ""), std::regex(R"(%2F)"), "/");
     // Fallback for topics without corresponding compressed topics
     if (type == std::string("ros_compressed")) {
       std::string compressed_topic_name = topic + "/compressed";