Merge remote-tracking branch 'upstream/master' into issue/3

# Conflicts:
#	CMakeLists.txt

CMakeLists.txt

@@ -42,6 +42,10 @@ if(BUILD_TESTING)
 
   ament_add_gtest(test_basic test/test_basic.cpp)
 
+  ament_add_gtest(test_split test/test_split.cpp)
+
+  ament_add_gtest(test_filesystem_helper test/test_filesystem_helper.cpp)
+
   add_library(toy_test_library SHARED test/toy_test_library.cpp)
   ament_add_gtest(test_find_library test/test_find_library.cpp)
   target_link_libraries(test_find_library ${PROJECT_NAME} toy_test_library)

CODEOWNERS

@@ -0,0 +1 @@
+* @ros2/aws-robotics-code-owners

include/rcpputils/filesystem_helper.hpp

@@ -0,0 +1,165 @@
+// Copyright (c) 2019, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of the copyright holders nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// This file is originally from:
+// https://github.com/ros/pluginlib/blob/1a4de29fa55173e9b897ca8ff57ebc88c047e0b3/pluginlib/include/pluginlib/impl/filesystem_helper.hpp
+
+/**
+ * If std::filesystem is not available the necessary functions are emulated.
+ *
+ * Note: Once std::filesystem is supported on all ROS2 platforms, this class
+ * can be deprecated in favor of the built-in functionality.
+ */
+
+#ifndef RCPPUTILS__FILESYSTEM_HELPER_HPP_
+#define RCPPUTILS__FILESYSTEM_HELPER_HPP_
+
+#include <algorithm>
+#include <string>
+#include <vector>
+
+#ifdef _WIN32
+#  define RCPPUTILS_IMPL_OS_DIRSEP '\\'
+#else
+#  define RCPPUTILS_IMPL_OS_DIRSEP '/'
+#endif
+
+#ifdef _WIN32
+#  include <io.h>
+#  define access _access_s
+#else
+#  include <unistd.h>
+#endif
+
+#include "rcpputils/split.hpp"
+
+namespace rcpputils
+{
+namespace fs
+{
+
+static constexpr const char kPreferredSeparator = RCPPUTILS_IMPL_OS_DIRSEP;
+
+class path
+{
+public:
+  path()
+  : path("")
+  {}
+
+  path(const std::string & p)  // NOLINT(runtime/explicit): this is a conversion constructor
+  : path_(p), path_as_vector_(split(p, kPreferredSeparator))
+  {
+    std::replace(path_.begin(), path_.end(), '\\', kPreferredSeparator);
+    std::replace(path_.begin(), path_.end(), '/', kPreferredSeparator);
+  }
+
+  std::string string() const
+  {
+    return path_;
+  }
+
+  bool exists() const
+  {
+    return access(path_.c_str(), 0) == 0;
+  }
+
+  bool is_absolute() const
+  {
+    return path_.compare(0, 1, "/") == 0 || path_.compare(1, 2, ":\\") == 0;
+  }
+
+  std::vector<std::string>::const_iterator cbegin() const
+  {
+    return path_as_vector_.cbegin();
+  }
+
+  std::vector<std::string>::const_iterator cend() const
+  {
+    return path_as_vector_.cend();
+  }
+
+  path parent_path() const
+  {
+    path parent("");
+    for (auto it = this->cbegin(); it != --this->cend(); ++it) {
+      parent /= *it;
+    }
+    return parent;
+  }
+
+  path filename() const
+  {
+    return path_.empty() ? path() : *--this->cend();
+  }
+
+  path operator/(const std::string & other)
+  {
+    return this->operator/(path(other));
+  }
+
+  path & operator/=(const std::string & other)
+  {
+    this->operator/=(path(other));
+    return *this;
+  }
+
+  path operator/(const path & other)
+  {
+    return path(*this).operator/=(other);
+  }
+
+  path & operator/=(const path & other)
+  {
+    this->path_ += kPreferredSeparator + other.string();
+    this->path_as_vector_.insert(
+      std::end(this->path_as_vector_),
+      std::begin(other.path_as_vector_), std::end(other.path_as_vector_));
+    return *this;
+  }
+
+private:
+  std::string path_;
+  std::vector<std::string> path_as_vector_;
+};
+
+inline bool exists(const path & path_to_check)
+{
+  return path_to_check.exists();
+}
+
+#undef RCPPUTILS_IMPL_OS_DIRSEP
+
+}  // namespace fs
+}  // namespace rcpputils
+
+#endif  // RCPPUTILS__FILESYSTEM_HELPER_HPP_

include/rcpputils/split.hpp

@@ -0,0 +1,71 @@
+// Copyright (c) 2019, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Software License Agreement (BSD License 2.0)
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions
+// are met:
+//
+//  * Redistributions of source code must retain the above copyright
+//    notice, this list of conditions and the following disclaimer.
+//  * Redistributions in binary form must reproduce the above
+//    copyright notice, this list of conditions and the following
+//    disclaimer in the documentation and/or other materials provided
+//    with the distribution.
+//  * Neither the name of the copyright holders nor the names of its
+//    contributors may be used to endorse or promote products derived
+//    from this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+// FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+// COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+// INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+// BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+// CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+// LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+// ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+//
+// This file is originally from:
+// https://github.com/ros/pluginlib/blob/1a4de29fa55173e9b897ca8ff57ebc88c047e0b3/pluginlib/include/pluginlib/impl/split.hpp
+
+#ifndef RCPPUTILS__SPLIT_HPP_
+#define RCPPUTILS__SPLIT_HPP_
+
+#include <sstream>
+#include <string>
+#include <vector>
+
+namespace rcpputils
+{
+
+/// Split a specified input into tokens using a delimiter.
+/**
+ * The returned vector will contain the tokens split from the input
+ *
+ * \param[in] input the input string to be split
+ * \param[in] delim the dlelimiter used to split the input string
+ * \return A vector of tokens.
+ */
+inline std::vector<std::string>
+split(const std::string & input, char delim, bool skip_empty = false)
+{
+  std::vector<std::string> result;
+  std::stringstream ss;
+  ss.str(input);
+  std::string item;
+  while (std::getline(ss, item, delim)) {
+    if (skip_empty && item == "") {
+      continue;
+    }
+    result.push_back(item);
+  }
+  return result;
+}
+}  // namespace rcpputils
+
+#endif  // RCPPUTILS__SPLIT_HPP_

test/test_basic.cpp

@@ -136,6 +136,11 @@ struct FakeGuarded
     * pData = 0;
   }
 
+  ~FakeGuarded()
+  {
+    delete pData;
+  }
+
   int incr_HaveGuard() RCPPUTILS_TSA_REQUIRES(mu)
   {
     return data++;
@@ -244,7 +249,6 @@ TEST(test_tsa, ptr_guard) {
   int * old = guarded.pData;
   guarded.pData = new int;  // pData itself is not protected by the mutex
   delete old;
-  delete guarded.pData;
 }
 
 TEST(test_tsa, shared_capability) {

test/test_filesystem_helper.cpp

@@ -0,0 +1,105 @@
+// Copyright 2019 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <gtest/gtest.h>
+
+#include <string>
+
+#include "rcpputils/filesystem_helper.hpp"
+
+#ifdef WIN32
+static constexpr const bool is_win32 = true;
+#else
+static constexpr const bool is_win32 = false;
+#endif
+
+using path = rcpputils::fs::path;
+
+TEST(TestFilesystemHelper, join_path)
+{
+  auto p = path("foo") / path("bar");
+
+  if (is_win32) {
+    EXPECT_EQ("foo\\bar", p.string());
+  } else {
+    EXPECT_EQ("foo/bar", p.string());
+  }
+}
+
+TEST(TestFilesystemHelper, to_native_path)
+{
+  {
+    auto p = path("/foo/bar/baz");
+    if (is_win32) {
+      EXPECT_EQ("\\foo\\bar\\baz", p.string());
+    } else {
+      EXPECT_EQ("/foo/bar/baz", p.string());
+    }
+  }
+  {
+    auto p = path("\\foo\\bar\\baz");
+    if (is_win32) {
+      EXPECT_EQ("\\foo\\bar\\baz", p.string());
+    } else {
+      EXPECT_EQ("/foo/bar/baz", p.string());
+    }
+  }
+  {
+    auto p = path("/foo//bar/baz");
+    if (is_win32) {
+      EXPECT_EQ("\\foo\\\\bar\\baz", p.string());
+    } else {
+      EXPECT_EQ("/foo//bar/baz", p.string());
+    }
+  }
+  {
+    auto p = path("\\foo\\\\bar\\baz");
+    if (is_win32) {
+      EXPECT_EQ("\\foo\\\\bar\\baz", p.string());
+    } else {
+      EXPECT_EQ("/foo//bar/baz", p.string());
+    }
+  }
+}
+
+TEST(TestFilesystemHelper, is_absolute)
+{
+  if (is_win32) {
+    {
+      auto p = path("C:\\foo\\bar\\baz");
+      EXPECT_TRUE(p.is_absolute());
+    }
+    {
+      auto p = path("D:\\foo\\bar\\baz");
+      EXPECT_TRUE(p.is_absolute());
+    }
+    {
+      auto p = path("C:/foo/bar/baz");
+      EXPECT_TRUE(p.is_absolute());
+    }
+    {
+      auto p = path("foo/bar/baz");
+      EXPECT_FALSE(p.is_absolute());
+    }
+  } else {
+    {
+      auto p = path("/foo/bar/baz");
+      EXPECT_TRUE(p.is_absolute());
+    }
+    {
+      auto p = path("foo/bar/baz");
+      EXPECT_FALSE(p.is_absolute());
+    }
+  }
+}