Replaced tinydir with rcutils

rcl/CMakeLists.txt

@@ -10,7 +10,6 @@ find_package(rcutils REQUIRED)
 find_package(rmw REQUIRED)
 find_package(rmw_implementation REQUIRED)
 find_package(rosidl_generator_c REQUIRED)
-find_package(tinydir_vendor REQUIRED)
 find_package(tracetools REQUIRED)
 
 include_directories(include)
@@ -72,7 +71,6 @@ ament_target_dependencies(${PROJECT_NAME}
   "rcutils"
   "rosidl_generator_c"
   ${RCL_LOGGING_IMPL}
-  "tinydir_vendor"
   "tracetools"
 )
 

rcl/package.xml

@@ -19,7 +19,6 @@
   <depend>rcutils</depend>
   <depend>rmw_implementation</depend>
   <depend>rosidl_generator_c</depend>
-  <depend>tinydir_vendor</depend>
   <depend>tracetools</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>

rcl/src/rcl/security_directory.c

@@ -15,19 +15,11 @@
 #include "rcl/security_directory.h"
 
 #include "rcl/error_handling.h"
+#include "rcutils/directory_and_file_reader.h"
 #include "rcutils/filesystem.h"
 #include "rcutils/get_env.h"
 #include "rcutils/format_string.h"
 
-#ifdef __clang__
-# pragma clang diagnostic push
-# pragma clang diagnostic ignored "-Wembedded-directive"
-#endif
-#include "tinydir/tinydir.h"
-#ifdef __clang__
-# pragma clang diagnostic pop
-#endif
-
 /**
  * A security lookup function takes in the node's name, namespace, a security root directory and an allocator;
  *  It returns the relevant information required to load the security credentials,
@@ -81,29 +73,29 @@ char * g_security_lookup_type_strings[] = {
  * \param[in] base_dir
  * \param[in] node_name
  * \param[out] matched_name must be a valid memory address allocated with at least
- * _TINYDIR_FILENAME_MAX characters.
+ * RCUTILS_FILENAME_MAX characters.
  * \return true if a match was found
  */
 static bool get_best_matching_directory(
   const char * base_dir,
   const char * node_name,
   char * matched_name)
 {
+  rcutils_dir_t dir = rcutils_get_zero_initialized_dir();
   size_t max_match_length = 0;
-  tinydir_dir dir;
   if (NULL == base_dir || NULL == node_name || NULL == matched_name) {
     return false;
   }
-  if (-1 == tinydir_open(&dir, base_dir)) {
+  if (-1 == rcutils_open_dir(&dir, base_dir, rcutils_get_default_allocator())) {
     return false;
   }
   while (dir.has_next) {
-    tinydir_file file;
-    if (-1 == tinydir_readfile(&dir, &file)) {
+    rcutils_file_t file = rcutils_get_zero_initialized_file();
+    if (RCUTILS_RET_OK != rcutils_readfile(&dir, &file)) {
       goto cleanup;
     }
     if (file.is_dir) {
-      size_t matched_name_length = strnlen(file.name, sizeof(file.name) - 1);
+      size_t matched_name_length = strlen(file.name);
       if (
         0 == strncmp(file.name, node_name, matched_name_length) &&
         matched_name_length > max_match_length)
@@ -112,12 +104,20 @@ static bool get_best_matching_directory(
         memcpy(matched_name, file.name, max_match_length);
       }
     }
-    if (-1 == tinydir_next(&dir)) {
+    rcutils_ret_t ret = rcutils_file_fini(&file, dir.allocator);
+    if (ret != RCUTILS_RET_OK) {
+      RCL_SET_ERROR_MSG_WITH_FORMAT_STRING("%s", rcutils_get_error_string().str);
+      goto cleanup;
+    }
+    if (RCUTILS_RET_OK != rcutils_next_dir(&dir)) {
       goto cleanup;
     }
   }
+
 cleanup:
-  tinydir_close(&dir);
+  if (rcutils_close_dir(&dir) != RCUTILS_RET_OK) {
+    RCL_SET_ERROR_MSG_WITH_FORMAT_STRING("%s", rcutils_get_error_string().str);
+  }
   return max_match_length > 0;
 }
 
@@ -156,7 +156,7 @@ char * prefix_match_lookup(
 {
   // Perform longest prefix match for the node's name in directory <root dir>/<namespace>.
   char * node_secure_root = NULL;
-  char matched_dir[_TINYDIR_FILENAME_MAX] = {0};
+  char matched_dir[RCUTILS_FILENAME_MAX] = {0};
   char * base_lookup_dir = NULL;
   if (strlen(node_namespace) == 1) {
     base_lookup_dir = (char *) ros_secure_root_env;