[humble] Rollback to rcpputils::fs and workaround failure in "open_su…

…cceds_twice" on second run. (#1666)

* Revert "Fix for "open_succeeds_twice" test failure on second run"

This reverts commit e0d3d48.

Signed-off-by: Michael Orlov <[email protected]>

* Workaround for "open_succeeds_twice" test failure on second run

Signed-off-by: Michael Orlov <[email protected]>

* Use test-specific temp subfolder to avoid interference with another tests

Signed-off-by: Michael Orlov <[email protected]>

---------

Signed-off-by: Michael Orlov <[email protected]>

rosbag2_compression/test/rosbag2_compression/test_sequential_compression_writer.cpp

@@ -14,14 +14,14 @@
 
 #include <gmock/gmock.h>
 
-#include <filesystem>
 #include <fstream>
 #include <memory>
 #include <string>
 #include <utility>
 #include <vector>
 
 #include "rcpputils/asserts.hpp"
+#include "rcpputils/filesystem_helper.hpp"
 
 #include "rosbag2_compression/compression_options.hpp"
 #include "rosbag2_compression/sequential_compression_writer.hpp"
@@ -39,8 +39,6 @@
 
 using namespace testing;  // NOLINT
 
-namespace fs = std::filesystem;
-
 static constexpr const char * DefaultTestCompressor = "fake_comp";
 
 class SequentialCompressionWriterTest : public Test
@@ -51,12 +49,12 @@ class SequentialCompressionWriterTest : public Test
     storage_{std::make_shared<NiceMock<MockStorage>>()},
     converter_factory_{std::make_shared<StrictMock<MockConverterFactory>>()},
     metadata_io_{std::make_unique<NiceMock<MockMetadataIo>>()},
-    tmp_dir_{fs::temp_directory_path() / "SequentialCompressionWriterTest"},
+    tmp_dir_{rcpputils::fs::temp_directory_path() / "SequentialCompressionWriterTest"},
     tmp_dir_storage_options_{},
     serialization_format_{"rmw_format"}
   {
     tmp_dir_storage_options_.uri = tmp_dir_.string();
-    fs::remove_all(tmp_dir_);
+    rcpputils::fs::remove_all(tmp_dir_);
     ON_CALL(*storage_factory_, open_read_write(_)).WillByDefault(Return(storage_));
     EXPECT_CALL(*storage_factory_, open_read_write(_)).Times(AtLeast(0));
     // intercept the metadata write so we can analyze it.
@@ -68,7 +66,7 @@ class SequentialCompressionWriterTest : public Test
 
   ~SequentialCompressionWriterTest()
   {
-    fs::remove_all(tmp_dir_);
+    rcpputils::fs::remove_all(tmp_dir_);
   }
 
   void initializeFakeFileStorage()
@@ -127,7 +125,7 @@ class SequentialCompressionWriterTest : public Test
   std::shared_ptr<NiceMock<MockStorage>> storage_;
   std::shared_ptr<StrictMock<MockConverterFactory>> converter_factory_;
   std::unique_ptr<MockMetadataIo> metadata_io_;
-  fs::path tmp_dir_;
+  rcpputils::fs::path tmp_dir_;
   rosbag2_storage::StorageOptions tmp_dir_storage_options_;
   rosbag2_storage::BagMetadata intercepted_metadata_;
   std::unique_ptr<rosbag2_cpp::Writer> writer_;
@@ -194,11 +192,14 @@ TEST_F(SequentialCompressionWriterTest, open_succeeds_on_supported_compression_f
   initializeWriter(compression_options);
 
   auto tmp_dir = tmp_dir_ / "path_not_empty";
+  // Cleanup leftovers from previous run if any
+  rcpputils::fs::remove_all(tmp_dir);
   auto storage_options = rosbag2_storage::StorageOptions();
   storage_options.uri = tmp_dir.string();
 
   EXPECT_NO_THROW(
     writer_->open(tmp_dir_storage_options_, {serialization_format_, serialization_format_}));
+  rcpputils::fs::remove_all(tmp_dir);
 }
 
 TEST_F(SequentialCompressionWriterTest, open_succeeds_twice)
@@ -211,6 +212,10 @@ TEST_F(SequentialCompressionWriterTest, open_succeeds_twice)
   auto tmp_dir = tmp_dir_ / "path_not_empty";
   auto tmp_dir_next = tmp_dir_ / "path_not_empty_next";
 
+  // Cleanup leftovers from previous run if any
+  rcpputils::fs::remove_all(tmp_dir);
+  rcpputils::fs::remove_all(tmp_dir_next);
+
   auto storage_options = rosbag2_storage::StorageOptions();
   auto storage_options_next = rosbag2_storage::StorageOptions();
 
@@ -223,6 +228,9 @@ TEST_F(SequentialCompressionWriterTest, open_succeeds_twice)
   writer_->close();
   EXPECT_NO_THROW(
     writer_->open(storage_options_next, {serialization_format_, serialization_format_}));
+
+  rcpputils::fs::remove_all(tmp_dir);
+  rcpputils::fs::remove_all(tmp_dir_next);
 }
 
 TEST_F(SequentialCompressionWriterTest, writer_calls_create_compressor)