Replace rcutils_get_file_size with rcpputils::fs::file_size (ros2#291)

* Replace rcutils_get_file_size with rcpputils::fs::file_size
* Fix behavior difference in rcutils_file_size vs rcpputils::fs::file_size
* Check if file exists before executing file_size

Signed-off-by: Zachary Michaels <zmichaels11@gmail.com>

rosbag2_compression/src/rosbag2_compression/sequential_compression_writer.cpp

@@ -207,21 +207,20 @@ void SequentialCompressionWriter::compress_last_file()
     throw std::runtime_error{"Compressor was not opened!"};
   }
 
-  const auto to_compress = metadata_.relative_file_paths.back();
+  const auto to_compress = rcpputils::fs::path{metadata_.relative_file_paths.back()};
 
-  if (rcpputils::fs::exists(to_compress) && rcutils_get_file_size(to_compress.c_str()) > 0) {
-    const auto compressed_uri = compressor_->compress_uri(to_compress);
+  if (to_compress.exists() && to_compress.file_size() > 0u) {
+    const auto compressed_uri = compressor_->compress_uri(to_compress.string());
 
     metadata_.relative_file_paths.back() = compressed_uri;
 
-    const auto rc = std::remove(to_compress.c_str());
-    if (rc != 0) {
+    if (rcpputils::fs::remove(to_compress)) {
       ROSBAG2_COMPRESSION_LOG_ERROR_STREAM(
-        "Failed to remove uncompressed bag: \"" << to_compress << "\"");
+        "Failed to remove uncompressed bag: \"" << to_compress.string() << "\"");
     }
   } else {
     ROSBAG2_COMPRESSION_LOG_DEBUG_STREAM(
-      "Removing last file: \"" << to_compress <<
+      "Removing last file: \"" << to_compress.string() <<
         "\" because it either is empty or does not exist.");
 
     metadata_.relative_file_paths.pop_back();
@@ -311,7 +310,11 @@ void SequentialCompressionWriter::finalize_metadata()
   metadata_.bag_size = 0;
 
   for (const auto & path : metadata_.relative_file_paths) {
-    metadata_.bag_size += rcutils_get_file_size(path.c_str());
+    const auto bag_path = rcpputils::fs::path{path};
+
+    if (bag_path.exists()) {
+      metadata_.bag_size += bag_path.file_size();
+    }
   }
 
   metadata_.topics_with_message_count.clear();

rosbag2_compression/src/rosbag2_compression/zstd_compressor.cpp

@@ -18,7 +18,7 @@
 #include <string>
 #include <vector>
 
-#include "rcutils/filesystem.h"
+#include "rcpputils/filesystem_helper.hpp"
 
 #include "rosbag2_compression/zstd_compressor.hpp"
 
@@ -71,7 +71,8 @@ std::vector<uint8_t> get_input_buffer(const std::string & uri)
     throw std::runtime_error{errmsg.str()};
   }
 
-  const auto decompressed_buffer_length = rcutils_get_file_size(uri.c_str());
+  const auto file_path = rcpputils::fs::path{uri};
+  const auto decompressed_buffer_length = file_path.exists() ? file_path.file_size() : 0u;
 
   if (decompressed_buffer_length == 0) {
     fclose(file_pointer);

rosbag2_compression/src/rosbag2_compression/zstd_decompressor.cpp

@@ -20,8 +20,6 @@
 
 #include "rcpputils/filesystem_helper.hpp"
 
-#include "rcutils/filesystem.h"
-
 #include "rosbag2_compression/zstd_decompressor.hpp"
 
 #include "logging.hpp"
@@ -73,7 +71,8 @@ std::vector<uint8_t> get_input_buffer(const std::string & uri)
     throw std::runtime_error{errmsg.str()};
   }
 
-  const auto compressed_buffer_length = rcutils_get_file_size(uri.c_str());
+  const auto file_path = rcpputils::fs::path{uri};
+  const auto compressed_buffer_length = file_path.exists() ? file_path.file_size() : 0u;
   if (compressed_buffer_length == 0) {
     fclose(file_pointer);
 

rosbag2_compression/test/rosbag2_compression/test_zstd_compressor.cpp

@@ -21,8 +21,6 @@
 
 #include "rcpputils/filesystem_helper.hpp"
 
-#include "rcutils/filesystem.h"
-
 #include "rosbag2_compression/zstd_compressor.hpp"
 #include "rosbag2_compression/zstd_decompressor.hpp"
 
@@ -91,12 +89,19 @@ TEST_F(CompressionHelperFixture, zstd_compress_file_uri)
 {
   const auto uri = (rcpputils::fs::path(temporary_dir_path_) / "file1.txt").string();
   create_garbage_file(uri);
+
+  ASSERT_TRUE(rcpputils::fs::exists(uri)) <<
+    "Expected uncompressed URI: \"" << uri << "\" to exist.";
+
   auto zstd_compressor = rosbag2_compression::ZstdCompressor{};
   const auto compressed_uri = zstd_compressor.compress_uri(uri);
 
+  ASSERT_TRUE(rcpputils::fs::exists(compressed_uri)) <<
+    "Expected compressed URI: \"" << compressed_uri << "\" to exist.";
+
   const auto expected_compressed_uri = uri + "." + zstd_compressor.get_compression_identifier();
-  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());
+  const auto uncompressed_file_size = rcpputils::fs::file_size(rcpputils::fs::path{uri});
+  const auto compressed_file_size = rcpputils::fs::file_size(rcpputils::fs::path{compressed_uri});
 
   EXPECT_NE(compressed_uri, uri);
   EXPECT_EQ(compressed_uri, expected_compressed_uri);
@@ -110,40 +115,52 @@ TEST_F(CompressionHelperFixture, zstd_decompress_file_uri)
 {
   const auto uri = (rcpputils::fs::path(temporary_dir_path_) / "file1.txt").string();
   create_garbage_file(uri);
-  const auto initial_file_size = rcutils_get_file_size(uri.c_str());
+
+  const auto initial_file_path = rcpputils::fs::path{uri};
+
+  ASSERT_TRUE(initial_file_path.exists()) <<
+    "Expected initial file: \"" << initial_file_path.string() <<
+    "\" to exist.";
+
+  const auto initial_file_size = initial_file_path.file_size();
 
   auto zstd_compressor = rosbag2_compression::ZstdCompressor{};
   const auto compressed_uri = zstd_compressor.compress_uri(uri);
 
-// The test is invalid if the initial file is not deleted
-  ASSERT_EQ(0, std::remove(uri.c_str())) <<
-    "Removal of \"" << uri << "\" failed! The remaining tests require \"" <<
-    uri << "\" to be deleted!";
+  // The test is invalid if the initial file is not deleted
+  ASSERT_TRUE(rcpputils::fs::remove(initial_file_path)) <<
+    "Removal of \"" << initial_file_path.string() <<
+    "\" failed! The remaining tests require \"" <<
+    initial_file_path.string() << "\" to be deleted!";
 
   auto zstd_decompressor = rosbag2_compression::ZstdDecompressor{};
   const auto decompressed_uri = zstd_decompressor.decompress_uri(compressed_uri);
-
+  const auto decompressed_file_path = rcpputils::fs::path{decompressed_uri};
   const auto expected_decompressed_uri = uri;
-  const auto decompressed_file_size = rcutils_get_file_size(decompressed_uri.c_str());
+
+  ASSERT_TRUE(decompressed_file_path.exists()) <<
+    "Expected decompressed file: \"" << decompressed_file_path.string() <<
+    "\" to exist.";
+
+  const auto decompressed_file_size = decompressed_file_path.file_size();
 
   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(rcpputils::fs::exists(decompressed_uri)) <<
-    "Expected decompressed file: \"" << decompressed_uri << "\" to exist!";
 }
 
 TEST_F(CompressionHelperFixture, zstd_decompress_file_contents)
 {
   const auto uri = (rcpputils::fs::path(temporary_dir_path_) / "file2.txt").string();
   create_garbage_file(uri);
 
-  ASSERT_TRUE(rcpputils::fs::exists(uri)) <<
+  const auto initial_file_path = rcpputils::fs::path{uri};
+  ASSERT_TRUE(initial_file_path.exists()) <<
     "Expected initial file: \"" << uri << "\" to exist!";
 
   const auto initial_data = read_file(uri);
-  const auto initial_file_size = rcutils_get_file_size(uri.c_str());
+  const auto initial_file_size = initial_file_path.file_size();
 
   EXPECT_EQ(
     initial_data.size() * sizeof(decltype(initial_data)::value_type),
@@ -161,15 +178,16 @@ TEST_F(CompressionHelperFixture, zstd_decompress_file_contents)
 
   auto decompressor = rosbag2_compression::ZstdDecompressor{};
   const auto decompressed_uri = decompressor.decompress_uri(compressed_uri);
+  const auto decompressed_file_path = rcpputils::fs::path{decompressed_uri};
 
-  ASSERT_TRUE(rcpputils::fs::exists(decompressed_uri)) <<
-    "Decompressed file: \"" << decompressed_uri << "\" must exist!";
+  ASSERT_TRUE(decompressed_file_path.exists()) <<
+    "Decompressed file: \"" << decompressed_file_path.string() << "\" must exist!";
 
   EXPECT_EQ(uri, decompressed_uri) <<
     "Expected decompressed file name to be same as initial!";
 
   const auto decompressed_data = read_file(decompressed_uri);
-  const auto decompressed_file_size = rcutils_get_file_size(decompressed_uri.c_str());
+  const auto decompressed_file_size = decompressed_file_path.file_size();
 
   EXPECT_EQ(
     decompressed_data.size() * sizeof(decltype(initial_data)::value_type),

rosbag2_cpp/src/rosbag2_cpp/writers/sequential_writer.cpp

@@ -23,8 +23,6 @@
 
 #include "rcpputils/filesystem_helper.hpp"
 
-#include "rcutils/filesystem.h"
-
 #include "rosbag2_cpp/info.hpp"
 #include "rosbag2_cpp/storage_options.hpp"
 
@@ -222,7 +220,11 @@ void SequentialWriter::finalize_metadata()
   metadata_.bag_size = 0;
 
   for (const auto & path : metadata_.relative_file_paths) {
-    metadata_.bag_size += rcutils_get_file_size(path.c_str());
+    const auto bag_path = rcpputils::fs::path{path};
+
+    if (bag_path.exists()) {
+      metadata_.bag_size += bag_path.file_size();
+    }
   }
 
   metadata_.topics_with_message_count.clear();

rosbag2_storage_default_plugins/src/rosbag2_storage_default_plugins/sqlite/sqlite_storage.cpp

@@ -27,8 +27,6 @@
 
 #include "rcpputils/filesystem_helper.hpp"
 
-#include "rcutils/filesystem.h"
-
 #include "rosbag2_storage/metadata_io.hpp"
 #include "rosbag2_storage/serialized_bag_message.hpp"
 #include "rosbag2_storage_default_plugins/sqlite/sqlite_statement_wrapper.hpp"
@@ -158,7 +156,9 @@ std::vector<rosbag2_storage::TopicMetadata> SqliteStorage::get_all_topics_and_ty
 
 uint64_t SqliteStorage::get_bagfile_size() const
 {
-  return rcutils_get_file_size(get_relative_file_path().c_str());
+  const auto bag_path = rcpputils::fs::path{get_relative_file_path()};
+
+  return bag_path.exists() ? bag_path.file_size() : 0u;
 }
 
 void SqliteStorage::initialize()
@@ -287,7 +287,7 @@ rosbag2_storage::BagMetadata SqliteStorage::get_metadata()
   metadata.starting_time =
     std::chrono::time_point<std::chrono::high_resolution_clock>(std::chrono::nanoseconds(min_time));
   metadata.duration = std::chrono::nanoseconds(max_time) - std::chrono::nanoseconds(min_time);
-  metadata.bag_size = rcutils_get_file_size(get_relative_file_path().c_str());
+  metadata.bag_size = get_bagfile_size();
 
   return metadata;
 }

rosbag2_tests/test/rosbag2_tests/test_rosbag2_record_end_to_end.cpp

@@ -282,10 +282,11 @@ TEST_F(RecordFixture, record_end_to_end_with_splitting_bagsize_split_is_at_least
 
   // Don't include the last bagfile since it won't be full
   for (int i = 0; i < actual_splits - 1; ++i) {
-    const auto bagfile_path = metadata.relative_file_paths[i];
-    EXPECT_TRUE(rcpputils::fs::exists(bagfile_path));
+    const auto bagfile_path = rcpputils::fs::path{metadata.relative_file_paths[i]};
+    ASSERT_TRUE(bagfile_path.exists()) <<
+      "Expected bag file: \"" << bagfile_path.string() << "\" to exist.";
 
-    const auto actual_split_size = static_cast<int>(rcutils_get_file_size(bagfile_path.c_str()));
+    const auto actual_split_size = static_cast<int>(bagfile_path.file_size());
     // Actual size is guaranteed to be >= bagfile_split size
     EXPECT_LT(bagfile_split_size, actual_split_size);
   }