remove rosbag2 filesystem helper

rosbag2_compression/src/rosbag2_compression/zstd_compressor.cpp

@@ -18,9 +18,9 @@
 #include <string>
 #include <vector>
 
-#include "rosbag2_compression/zstd_compressor.hpp"
+#include "rcutils/filesystem.h"
 
-#include "rosbag2_storage/filesystem_helper.hpp"
+#include "rosbag2_compression/zstd_compressor.hpp"
 
 #include "logging.hpp"
 
@@ -65,8 +65,7 @@ std::vector<uint8_t> get_input_buffer(const std::string & uri)
     throw std::runtime_error{"Error opening file"};
   }
 
-  const auto decompressed_buffer_length =
-    rosbag2_storage::FilesystemHelper::get_file_size(uri);
+  const auto decompressed_buffer_length = rcutils_get_file_size(uri.c_str());
 
   if (decompressed_buffer_length == 0) {
     fclose(file_pointer);

rosbag2_compression/src/rosbag2_compression/zstd_decompressor.cpp

@@ -18,12 +18,12 @@
 #include <string>
 #include <vector>
 
+#include "rcutils/filesystem.h"
+
 #include "rcpputils/filesystem_helper.hpp"
 
 #include "rosbag2_compression/zstd_decompressor.hpp"
 
-#include "rosbag2_storage/filesystem_helper.hpp"
-
 #include "logging.hpp"
 
 namespace
@@ -68,7 +68,7 @@ std::vector<uint8_t> get_input_buffer(const std::string & uri)
     throw std::runtime_error{errmsg.str()};
   }
 
-  const auto compressed_buffer_length = rosbag2_storage::FilesystemHelper::get_file_size(uri);
+  const auto compressed_buffer_length = rcutils_get_file_size(uri.c_str());
   if (compressed_buffer_length == 0) {
     fclose(file_pointer);
 

rosbag2_compression/test/rosbag2_compression/test_zstd_compressor.cpp

@@ -18,9 +18,14 @@
 #include <vector>
 
 #include "rclcpp/rclcpp.hpp"
+
+#include "rcpputils/filesystem_helper.hpp"
+
+#include "rcutils/filesystem.h"
+
 #include "rosbag2_compression/zstd_compressor.hpp"
 #include "rosbag2_compression/zstd_decompressor.hpp"
-#include "rosbag2_storage/filesystem_helper.hpp"
+
 #include "rosbag2_test_common/temporary_directory_fixture.hpp"
 
 #include "gmock/gmock.h"
@@ -84,28 +89,27 @@ class CompressionHelperFixture : public rosbag2_test_common::TemporaryDirectoryF
 
 TEST_F(CompressionHelperFixture, zstd_compress_file_uri)
 {
-  const auto uri = rosbag2_storage::FilesystemHelper::concat({temporary_dir_path_, "file1.txt"});
+  const auto uri = (rcpputils::fs::path(temporary_dir_path_) / "file1.txt").string();
   create_garbage_file(uri);
   auto zstd_compressor = rosbag2_compression::ZstdCompressor{};
   const auto compressed_uri = zstd_compressor.compress_uri(uri);
 
   const auto expected_compressed_uri = uri + "." + zstd_compressor.get_compression_identifier();
-  const auto uncompressed_file_size = rosbag2_storage::FilesystemHelper::get_file_size(uri);
-  const auto compressed_file_size =
-    rosbag2_storage::FilesystemHelper::get_file_size(compressed_uri);
+  const auto uncompressed_file_size = rcutils_get_file_size(uri.c_str());
+  const auto compressed_file_size = rcutils_get_file_size(compressed_uri.c_str());
 
   EXPECT_NE(compressed_uri, uri);
   EXPECT_EQ(compressed_uri, expected_compressed_uri);
   EXPECT_LT(compressed_file_size, uncompressed_file_size);
   EXPECT_GT(compressed_file_size, 0u);
-  EXPECT_TRUE(rosbag2_storage::FilesystemHelper::file_exists(compressed_uri));
+  EXPECT_TRUE(rcpputils::fs::path(compressed_uri).exists());
 }
 
 TEST_F(CompressionHelperFixture, zstd_decompress_file_uri)
 {
-  const auto uri = rosbag2_storage::FilesystemHelper::concat({temporary_dir_path_, "file1.txt"});
+  const auto uri = (rcpputils::fs::path(temporary_dir_path_) / "file1.txt").string();
   create_garbage_file(uri);
-  const auto initial_file_size = rosbag2_storage::FilesystemHelper::get_file_size(uri);
+  const auto initial_file_size = rcutils_get_file_size(uri.c_str());
 
   auto zstd_compressor = rosbag2_compression::ZstdCompressor{};
   const auto compressed_uri = zstd_compressor.compress_uri(uri);
@@ -116,19 +120,18 @@ TEST_F(CompressionHelperFixture, zstd_decompress_file_uri)
   const auto decompressed_uri = zstd_decompressor.decompress_uri(compressed_uri);
 
   const auto expected_decompressed_uri = uri;
-  const auto decompressed_file_size =
-    rosbag2_storage::FilesystemHelper::get_file_size(decompressed_uri);
+  const auto decompressed_file_size = rcutils_get_file_size(decompressed_uri.c_str());
 
   EXPECT_NE(compressed_uri, uri);
   EXPECT_NE(decompressed_uri, compressed_uri);
   EXPECT_EQ(uri, expected_decompressed_uri);
   EXPECT_EQ(initial_file_size, decompressed_file_size);
-  EXPECT_TRUE(rosbag2_storage::FilesystemHelper::file_exists(decompressed_uri));
+  EXPECT_TRUE(rcpputils::fs::path(decompressed_uri).exists());
 }
 
 TEST_F(CompressionHelperFixture, zstd_decompress_file_contents)
 {
-  const auto uri = rosbag2_storage::FilesystemHelper::concat({temporary_dir_path_, "file2.txt"});
+  const auto uri = (rcpputils::fs::path(temporary_dir_path_) / "file2.txt").string();
   create_garbage_file(uri);
 
   auto compressor = rosbag2_compression::ZstdCompressor{};
@@ -138,10 +141,9 @@ TEST_F(CompressionHelperFixture, zstd_decompress_file_contents)
   const auto decompressed_uri = decompressor.decompress_uri(compressed_uri);
 
   const auto initial_data = read_file(uri);
-  const auto initial_file_size = rosbag2_storage::FilesystemHelper::get_file_size(uri);
+  const auto initial_file_size = rcutils_get_file_size(uri.c_str());
   const auto decompressed_data = read_file(decompressed_uri);
-  const auto decompressed_file_size =
-    rosbag2_storage::FilesystemHelper::get_file_size(decompressed_uri);
+  const auto decompressed_file_size = rcutils_get_file_size(decompressed_uri.c_str());
 
   EXPECT_EQ(
     initial_data.size() * sizeof(decltype(initial_data)::value_type),
@@ -154,7 +156,7 @@ TEST_F(CompressionHelperFixture, zstd_decompress_file_contents)
 
 TEST_F(CompressionHelperFixture, zstd_decompress_fails_on_bad_file)
 {
-  const auto uri = rosbag2_storage::FilesystemHelper::concat({temporary_dir_path_, "file3.txt"});
+  const auto uri = (rcpputils::fs::path(temporary_dir_path_) / "file3.txt").string();
   create_garbage_file(uri);
 
   auto decompressor = rosbag2_compression::ZstdDecompressor{};
@@ -163,8 +165,7 @@ TEST_F(CompressionHelperFixture, zstd_decompress_fails_on_bad_file)
 
 TEST_F(CompressionHelperFixture, zstd_decompress_fails_on_bad_uri)
 {
-  const auto bad_uri =
-    rosbag2_storage::FilesystemHelper::concat({temporary_dir_path_, "bad_uri.txt"});
+  const auto bad_uri = (rcpputils::fs::path(temporary_dir_path_) / "bad_uri.txt").string();
   auto decompressor = rosbag2_compression::ZstdDecompressor{};
 
   EXPECT_THROW(decompressor.decompress_uri(bad_uri), std::runtime_error);

rosbag2_cpp/src/rosbag2_cpp/info.cpp

@@ -18,7 +18,6 @@
 #include <stdexcept>
 #include <string>
 
-#include "rosbag2_storage/filesystem_helper.hpp"
 #include "rosbag2_storage/metadata_io.hpp"
 #include "rosbag2_storage/storage_factory.hpp"
 

rosbag2_cpp/src/rosbag2_cpp/writer.cpp

@@ -25,7 +25,6 @@
 #include "rosbag2_cpp/storage_options.hpp"
 #include "rosbag2_cpp/writer_interfaces/base_writer_interface.hpp"
 
-#include "rosbag2_storage/filesystem_helper.hpp"
 #include "rosbag2_storage/serialized_bag_message.hpp"
 #include "rosbag2_storage/topic_metadata.hpp"
 

rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp

@@ -21,11 +21,13 @@
 #include <string>
 #include <utility>
 
+#include "rcpputils/filesystem_helper.hpp"
+
+#include "rcutils/filesystem.h"
+
 #include "rosbag2_cpp/info.hpp"
 #include "rosbag2_cpp/storage_options.hpp"
 
-#include "rosbag2_storage/filesystem_helper.hpp"
-
 namespace rosbag2_cpp
 {
 namespace writers
@@ -39,10 +41,9 @@ std::string format_storage_uri(const std::string & base_folder, uint64_t storage
   // The name of the folder needs to be queried in case
   // SequentialWriter is opened with a relative path.
   std::stringstream storage_file_name;
-  storage_file_name << rosbag2_storage::FilesystemHelper::get_folder_name(base_folder) <<
-    "_" << storage_count;
+  storage_file_name << rcpputils::fs::path(base_folder).filename().string() << "_" << storage_count;
 
-  return rosbag2_storage::FilesystemHelper::concat({base_folder, storage_file_name.str()});
+  return (rcpputils::fs::path(base_folder) / storage_file_name.str()).string();
 }
 }  // namespace
 
@@ -221,7 +222,7 @@ void SequentialWriter::finalize_metadata()
   metadata_.bag_size = 0;
 
   for (const auto & path : metadata_.relative_file_paths) {
-    metadata_.bag_size += rosbag2_storage::FilesystemHelper::get_file_size(path);
+    metadata_.bag_size += rcutils_get_file_size(path.c_str());
   }
 
   metadata_.topics_with_message_count.clear();

rosbag2_cpp/test/rosbag2_cpp/test_info.cpp

@@ -19,11 +19,12 @@
 #include <string>
 #include <vector>
 
+#include "rcpputils/filesystem_helper.hpp"
+
 #include "rosbag2_cpp/info.hpp"
 #include "rosbag2_cpp/writer.hpp"
 
 #include "rosbag2_storage/bag_metadata.hpp"
-#include "rosbag2_storage/filesystem_helper.hpp"
 #include "rosbag2_storage/metadata_io.hpp"
 
 #include "rosbag2_test_common/temporary_directory_fixture.hpp"
@@ -56,11 +57,9 @@ TEST_F(TemporaryDirectoryFixture, read_metadata_supports_version_2) {
     "      message_count: 200\n";
 
   {
-    const auto bagfile_path = rosbag2_storage::FilesystemHelper::concat({
-      temporary_dir_path_, rosbag2_storage::MetadataIo::metadata_filename
-    });
-
-    std::ofstream fout {bagfile_path};
+    std::ofstream fout {
+      (rcpputils::fs::path(temporary_dir_path_) / rosbag2_storage::MetadataIo::metadata_filename)
+      .string()};
     fout << bagfile;
   }
 
@@ -127,10 +126,9 @@ TEST_F(TemporaryDirectoryFixture, read_metadata_makes_appropriate_call_to_metada
     "  compression_format: \"zstd\"\n"
     "  compression_mode: \"FILE\"\n");
 
-  std::ofstream fout(
-    rosbag2_storage::FilesystemHelper::concat({
-    temporary_dir_path_, rosbag2_storage::MetadataIo::metadata_filename
-  }));
+  std::ofstream fout {
+    (rcpputils::fs::path(temporary_dir_path_) / rosbag2_storage::MetadataIo::metadata_filename)
+    .string()};
   fout << bagfile;
   fout.close();
 

rosbag2_cpp/test/rosbag2_cpp/test_sequential_writer.cpp

@@ -19,11 +19,12 @@
 #include <utility>
 #include <vector>
 
+#include "rcpputils/filesystem_helper.hpp"
+
 #include "rosbag2_cpp/writers/sequential_writer.hpp"
 #include "rosbag2_cpp/writer.hpp"
 
 #include "rosbag2_storage/bag_metadata.hpp"
-#include "rosbag2_storage/filesystem_helper.hpp"
 #include "rosbag2_storage/topic_metadata.hpp"
 
 #include "mock_converter.hpp"
@@ -237,8 +238,8 @@ TEST_F(SequentialWriterTest, writer_splits_when_storage_bagfile_size_gt_max_bagf
     static_cast<unsigned int>(expected_splits)) <<
     "Storage should have split bagfile " << (expected_splits - 1);
 
-  const auto base_path = rosbag2_storage::FilesystemHelper::concat({
-    storage_options_.uri, storage_options_.uri});
+  const auto base_path =
+    (rcpputils::fs::path(storage_options_.uri) / storage_options_.uri).string();
   int counter = 0;
   for (const auto & path : fake_metadata_.relative_file_paths) {
     std::stringstream ss;

rosbag2_storage/CMakeLists.txt

@@ -22,6 +22,7 @@ endif()
 
 find_package(ament_cmake REQUIRED)
 find_package(pluginlib REQUIRED)
+find_package(rcpputils REQUIRED)
 find_package(rcutils REQUIRED)
 find_package(yaml_cpp_vendor REQUIRED)
 
@@ -36,6 +37,7 @@ target_include_directories(rosbag2_storage PUBLIC include)
 ament_target_dependencies(
   rosbag2_storage
   pluginlib
+  rcpputils
   rcutils
   yaml_cpp_vendor)
 
@@ -105,14 +107,6 @@ if(BUILD_TESTING)
     target_link_libraries(test_metadata_serialization rosbag2_storage)
     ament_target_dependencies(test_metadata_serialization rosbag2_test_common)
   endif()
-
-  ament_add_gmock(test_filesystem_helper
-    test/rosbag2_storage/test_filesystem_helper.cpp)
-  if(TARGET test_filesystem_helper)
-    target_include_directories(test_filesystem_helper PRIVATE include)
-    target_link_libraries(test_filesystem_helper rosbag2_storage)
-    ament_target_dependencies(test_filesystem_helper rosbag2_test_common)
-  endif()
 endif()
 
 ament_package(