Updated rcpputils path API (#2579)

ahcorde · web-flow · commit b1fdb18f1e1f · 2024-07-24T10:14:45.000+02:00
Signed-off-by: Alejandro Hernández Cordero &lt;ahcorde@gmail.com&gt;
diff --git a/rclcpp/include/rclcpp/logger.hpp b/rclcpp/include/rclcpp/logger.hpp
@@ -15,6 +15,7 @@
 #ifndef RCLCPP__LOGGER_HPP_
 #define RCLCPP__LOGGER_HPP_
 
+#include <filesystem>
 #include <memory>
 #include <string>
 #include <utility>
@@ -77,6 +78,14 @@ RCLCPP_PUBLIC
 Logger
 get_node_logger(const rcl_node_t * node);
 
+// TODO(ahcorde): Remove deprecated class on the next release (in Rolling after Kilted).
+#if !defined(_WIN32)
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#else  // !defined(_WIN32)
+# pragma warning(push)
+# pragma warning(disable: 4996)
+#endif
 /// Get the current logging directory.
 /**
  * For more details of how the logging directory is determined,
@@ -85,10 +94,30 @@ get_node_logger(const rcl_node_t * node);
  * \returns the logging directory being used.
  * \throws rclcpp::exceptions::RCLError if an unexpected error occurs.
  */
+[[deprecated("use rclcpp::get_log_directory instead of rclcpp::get_logging_directory")]]
 RCLCPP_PUBLIC
 rcpputils::fs::path
 get_logging_directory();
 
+// remove warning suppression
+#if !defined(_WIN32)
+# pragma GCC diagnostic pop
+#else  // !defined(_WIN32)
+# pragma warning(pop)
+#endif
+
+/// Get the current logging directory.
+/**
+ * For more details of how the logging directory is determined,
+ * see rcl_logging_get_logging_directory().
+ *
+ * \returns the logging directory being used.
+ * \throws rclcpp::exceptions::RCLError if an unexpected error occurs.
+ */
+RCLCPP_PUBLIC
+std::filesystem::path
+get_log_directory();
+
 class Logger
 {
 public:
diff --git a/rclcpp/src/rclcpp/logger.cpp b/rclcpp/src/rclcpp/logger.cpp
@@ -12,6 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
+#include <filesystem>
 #include <memory>
 #include <string>
 #include <utility>
@@ -54,6 +55,14 @@ get_node_logger(const rcl_node_t * node)
   return rclcpp::get_logger(logger_name);
 }
 
+// TODO(ahcorde): Remove deprecated class on the next release (in Rolling after Kilted).
+#if !defined(_WIN32)
+# pragma GCC diagnostic push
+# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
+#else  // !defined(_WIN32)
+# pragma warning(push)
+# pragma warning(disable: 4996)
+#endif
 rcpputils::fs::path
 get_logging_directory()
 {
@@ -67,6 +76,26 @@ get_logging_directory()
   allocator.deallocate(log_dir, allocator.state);
   return path;
 }
+// remove warning suppression
+#if !defined(_WIN32)
+# pragma GCC diagnostic pop
+#else  // !defined(_WIN32)
+# pragma warning(pop)
+#endif
+
+std::filesystem::path
+get_log_directory()
+{
+  char * log_dir = NULL;
+  auto allocator = rcutils_get_default_allocator();
+  rcl_logging_ret_t ret = rcl_logging_get_logging_directory(allocator, &log_dir);
+  if (RCL_LOGGING_RET_OK != ret) {
+    rclcpp::exceptions::throw_from_rcl_error(ret);
+  }
+  std::string path{log_dir};
+  allocator.deallocate(log_dir, allocator.state);
+  return path;
+}
 
 Logger
 Logger::get_child(const std::string & suffix)
diff --git a/rclcpp/test/rclcpp/node_interfaces/test_node_parameters.cpp b/rclcpp/test/rclcpp/node_interfaces/test_node_parameters.cpp
@@ -21,6 +21,7 @@
 #include <gtest/gtest.h>
 
 #include <algorithm>
+#include <filesystem>
 #include <memory>
 #include <string>
 #include <vector>
@@ -61,7 +62,7 @@ class TestNodeParameters : public ::testing::Test
   std::shared_ptr<rclcpp::Node> node;
   rclcpp::node_interfaces::NodeParameters * node_parameters;
 
-  rcpputils::fs::path test_resources_path{TEST_RESOURCES_DIRECTORY};
+  std::filesystem::path test_resources_path{TEST_RESOURCES_DIRECTORY};
 };
 
 TEST_F(TestNodeParameters, construct_destruct_rcl_errors) {
diff --git a/rclcpp/test/rclcpp/test_logger.cpp b/rclcpp/test/rclcpp/test_logger.cpp
@@ -14,6 +14,7 @@
 
 #include <gtest/gtest.h>
 
+#include <filesystem>
 #include <memory>
 #include <string>
 
@@ -210,15 +211,7 @@ TEST(TestLogger, get_logging_directory) {
   ASSERT_EQ(true, rcutils_set_env("ROS_LOG_DIR", nullptr));
   ASSERT_EQ(true, rcutils_set_env("ROS_HOME", nullptr));
 
-  auto path = rclcpp::get_logging_directory();
-  auto expected_path = rcpputils::fs::path{"/fake_home_dir"} / ".ros" / "log";
-
-  // TODO(ivanpauno): Add operator== to rcpputils::fs::path
-  auto it = path.cbegin();
-  auto eit = expected_path.cbegin();
-  for (; it != path.cend() && eit != expected_path.cend(); ++it, ++eit) {
-    EXPECT_EQ(*eit, *it);
-  }
-  EXPECT_EQ(it, path.cend());
-  EXPECT_EQ(eit, expected_path.cend());
+  auto path = rclcpp::get_log_directory();
+  auto expected_path = std::filesystem::path{"/fake_home_dir"} / ".ros" / "log";
+  EXPECT_EQ(path, expected_path);
 }
diff --git a/rclcpp/test/rclcpp/test_node.cpp b/rclcpp/test/rclcpp/test_node.cpp
@@ -15,6 +15,7 @@
 #include <gtest/gtest.h>
 
 #include <chrono>
+#include <filesystem>
 #include <functional>
 #include <limits>
 #include <map>
@@ -56,7 +57,7 @@ class TestNode : public ::testing::Test
     test_resources_path /= "test_node";
   }
 
-  rcpputils::fs::path test_resources_path{TEST_RESOURCES_DIRECTORY};
+  std::filesystem::path test_resources_path{TEST_RESOURCES_DIRECTORY};
 };
 
 /*
diff --git a/rclcpp/test/rclcpp/test_parameter_client.cpp b/rclcpp/test/rclcpp/test_parameter_client.cpp
@@ -15,6 +15,7 @@
 #include <gmock/gmock.h>
 
 #include <chrono>
+#include <filesystem>
 #include <functional>
 #include <future>
 #include <memory>
@@ -935,7 +936,7 @@ TEST_F(TestParameterClient, async_parameter_load_parameters) {
   auto asynchronous_client =
     std::make_shared<rclcpp::AsyncParametersClient>(load_node, "/namespace/load_node");
   // load parameters
-  rcpputils::fs::path test_resources_path{TEST_RESOURCES_DIRECTORY};
+  std::filesystem::path test_resources_path{TEST_RESOURCES_DIRECTORY};
   const std::string parameters_filepath = (
     test_resources_path / "test_node" / "load_parameters.yaml").string();
   auto load_future = asynchronous_client->load_parameters(parameters_filepath);
@@ -961,7 +962,7 @@ TEST_F(TestParameterClient, sync_parameter_load_parameters) {
   auto synchronous_client =
     std::make_shared<rclcpp::SyncParametersClient>(load_node);
   // load parameters
-  rcpputils::fs::path test_resources_path{TEST_RESOURCES_DIRECTORY};
+  std::filesystem::path test_resources_path{TEST_RESOURCES_DIRECTORY};
   const std::string parameters_filepath = (
     test_resources_path / "test_node" / "load_parameters.yaml").string();
   auto load_future = synchronous_client->load_parameters(parameters_filepath);
@@ -983,7 +984,7 @@ TEST_F(TestParameterClient, async_parameter_load_parameters_complicated_regex) {
   auto asynchronous_client =
     std::make_shared<rclcpp::AsyncParametersClient>(load_node, "/namespace/load_node");
   // load parameters
-  rcpputils::fs::path test_resources_path{TEST_RESOURCES_DIRECTORY};
+  std::filesystem::path test_resources_path{TEST_RESOURCES_DIRECTORY};
   const std::string parameters_filepath = (
     test_resources_path / "test_node" / "load_complicated_parameters.yaml").string();
   auto load_future = asynchronous_client->load_parameters(parameters_filepath);
@@ -1013,7 +1014,7 @@ TEST_F(TestParameterClient, async_parameter_load_no_valid_parameter) {
   auto asynchronous_client =
     std::make_shared<rclcpp::AsyncParametersClient>(load_node, "/namespace/load_node");
   // load parameters
-  rcpputils::fs::path test_resources_path{TEST_RESOURCES_DIRECTORY};
+  std::filesystem::path test_resources_path{TEST_RESOURCES_DIRECTORY};
   const std::string parameters_filepath = (
     test_resources_path / "test_node" / "no_valid_parameters.yaml").string();
   EXPECT_THROW(
diff --git a/rclcpp_components/src/component_manager.cpp b/rclcpp_components/src/component_manager.cpp
@@ -14,6 +14,7 @@
 
 #include "rclcpp_components/component_manager.hpp"
 
+#include <filesystem>
 #include <functional>
 #include <memory>
 #include <string>
@@ -95,11 +96,11 @@ ComponentManager::get_component_resources(
       throw ComponentManagerException("Invalid resource entry");
     }
 
-    std::string library_path = parts[1];
-    if (!rcpputils::fs::path(library_path).is_absolute()) {
-      library_path = base_path + "/" + library_path;
+    std::filesystem::path library_path = parts[1];
+    if (!library_path.is_absolute()) {
+      library_path = (base_path / library_path);
     }
-    resources.push_back({parts[0], library_path});
+    resources.push_back({parts[0], library_path.string()});
   }
   return resources;
 }
diff --git a/rclcpp_components/test/test_component_manager.cpp b/rclcpp_components/test/test_component_manager.cpp
@@ -14,6 +14,7 @@
 
 #include <gtest/gtest.h>
 
+#include <filesystem>
 #include <memory>
 
 #include "rclcpp_components/component_manager.hpp"
@@ -51,7 +52,7 @@ TEST_F(TestComponentManager, get_component_resources_valid)
   EXPECT_EQ("test_rclcpp_components::TestComponentBar", resources[1].first);
   EXPECT_EQ("test_rclcpp_components::TestComponentNoNode", resources[2].first);
 
-  namespace fs = rcpputils::fs;
+  namespace fs = std::filesystem;
   EXPECT_TRUE(fs::exists(fs::path(resources[0].second)));
   EXPECT_TRUE(fs::exists(fs::path(resources[1].second)));
   EXPECT_TRUE(fs::exists(fs::path(resources[2].second)));

Original file line number	Diff line number	Diff line change
`@@ -14,6 +14,7 @@`
`14`	`14`
`15`	`15`	`#include "rclcpp_components/component_manager.hpp"`
`16`	`16`
	`17`	`+#include <filesystem>`
`17`	`18`	`#include <functional>`
`18`	`19`	`#include <memory>`
`19`	`20`	`#include <string>`
`@@ -95,11 +96,11 @@ ComponentManager::get_component_resources(`
`95`	`96`	`throw ComponentManagerException("Invalid resource entry");`
`96`	`97`	`}`
`97`	`98`
`98`		`- std::string library_path = parts[1];`
`99`		`- if (!rcpputils::fs::path(library_path).is_absolute()) {`
`100`		`- library_path = base_path + "/" + library_path;`
	`99`	`+ std::filesystem::path library_path = parts[1];`
	`100`	`+ if (!library_path.is_absolute()) {`
	`101`	`+ library_path = (base_path / library_path);`
`101`	`102`	`}`
`102`		`- resources.push_back({parts[0], library_path});`
	`103`	`+ resources.push_back({parts[0], library_path.string()});`
`103`	`104`	`}`
`104`	`105`	`return resources;`
`105`	`106`	`}`