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00001 /* +---------------------------------------------------------------------------+
00002    |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
00003    |                                                                           |
00004    |                   http://mrpt.sourceforge.net/                            |
00005    |                                                                           |
00006    |   Copyright (C) 2005-2011  University of Malaga                           |
00007    |                                                                           |
00008    |    This software was written by the Machine Perception and Intelligent    |
00009    |      Robotics Lab, University of Malaga (Spain).                          |
00010    |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
00011    |                                                                           |
00012    |  This file is part of the MRPT project.                                   |
00013    |                                                                           |
00014    |     MRPT is free software: you can redistribute it and/or modify          |
00015    |     it under the terms of the GNU General Public License as published by  |
00016    |     the Free Software Foundation, either version 3 of the License, or     |
00017    |     (at your option) any later version.                                   |
00018    |                                                                           |
00019    |   MRPT is distributed in the hope that it will be useful,                 |
00020    |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
00021    |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
00022    |     GNU General Public License for more details.                          |
00023    |                                                                           |
00024    |     You should have received a copy of the GNU General Public License     |
00025    |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
00026    |                                                                           |
00027    +---------------------------------------------------------------------------+ */
00028 #ifndef  FILE_MRPT_OS_H
00029 #define  FILE_MRPT_OS_H
00030 
00031 #include <mrpt/config.h>
00032 
00033 #include <cstdarg>
00034 #include <cstdlib>
00035 #include <cstring>
00036 #include <deque>
00037 #include <vector>
00038 
00039 // Duplicated here since <mrpt/system/os.h> is the only header that cannot include "utils_defs.h"
00040 #include <mrpt/base/link_pragmas.h>  // DLL import/export definitions
00041 
00042 #include <mrpt/utils/types.h>  // This must be AFTER <utils_impexp.h>
00043 #include <mrpt/utils/mrpt_macros.h>  // This must be AFTER <utils_impexp.h>
00044 
00045 /** Represents an invalid timestamp, where applicable.
00046   */
00047 #define INVALID_TIMESTAMP (0)
00048 
00049 namespace mrpt
00050 {
00051         /** This namespace provides a OS-independent interface to many useful functions: filenames manipulation, time and date, string parsing, file I/O, threading, memory allocation, etc.
00052          *  \sa mrpt::system::os
00053          */
00054         namespace system
00055         {
00056                 /** This namespace provides a OS-independent interface to low-level functions.
00057                  *   Most of these functions are converted into calls to standard functions, unless we are into Visual Studio 2005 (or newer). In that case the secure version
00058                  *     of the standard library functions (prefix "_s") are used instead.
00059                  */
00060                 namespace os
00061                 {
00062                         /** An OS-independent version of sprintf (Notice the bufSize param, which may be ignored in some compilers)
00063                           *  \sa utils::format
00064                           */
00065                         int BASE_IMPEXP sprintf(char *buf, size_t bufSize, const char *format, ...) MRPT_NO_THROWS MRPT_printf_format_check(3,4);
00066 
00067                         /** An OS-independent version of vsprintf (Notice the bufSize param, which may be ignored in some compilers)
00068                           */
00069                         int BASE_IMPEXP vsprintf(char *buf, size_t bufSize, const char *format, va_list args) MRPT_NO_THROWS;
00070 
00071                         /** An OS-independent version of vsnprintf (Notice the bufSize param, which may be ignored in some compilers)
00072                           */
00073                         int BASE_IMPEXP vsnprintf(char *buf, size_t bufSize, const char *format, va_list args) MRPT_NO_THROWS;
00074 
00075                         /** An OS-independent version of fopen.
00076                           * \return It will always return NULL on any error.
00077                           */
00078                         FILE BASE_IMPEXP *fopen(const char *fileName,const char *mode) MRPT_NO_THROWS;
00079 
00080                         /** An OS-independent version of fopen (std::string version)
00081                           * \return It will always return NULL on any error.
00082                           */
00083                         FILE BASE_IMPEXP *fopen(const std::string &fileName,const char *mode) MRPT_NO_THROWS;
00084 
00085                         /** An OS-independent version of fprintf
00086                           */
00087                         int BASE_IMPEXP fprintf(FILE *fil, const char *format, ...)  MRPT_NO_THROWS MRPT_printf_format_check(2,3);
00088 
00089                         /** An OS-independent version of fscanf
00090                           * \return The number of fields correctly assigned
00091                           */
00092                         //int BASE_IMPEXP fscanf(FILE *fil, const char *format, ...)  MRPT_NO_THROWS MRPT_scanf_format_check(2,3);
00093 
00094                         /** An OS-independent version of fclose.
00095                           * \exception std::exception On trying to close a NULL file descriptor.
00096                           */
00097                         void BASE_IMPEXP fclose(FILE *f);
00098 
00099                         /** An OS-independent version of strcat.
00100                           * \return It will always return the "dest" pointer.
00101                           */
00102                         char BASE_IMPEXP * strcat(char *dest, size_t destSize, const char *source) MRPT_NO_THROWS;
00103 
00104                         /** An OS-independent version of strcpy.
00105                           * \return It will always return the "dest" pointer.
00106                           */
00107                         char  BASE_IMPEXP *strcpy(char *dest, size_t destSize, const char *source) MRPT_NO_THROWS;
00108 
00109                         /** An OS-independent version of strcmp.
00110                           * \return It will return 0 when both strings are equal, casi sensitive.
00111                           */
00112                         int BASE_IMPEXP _strcmp(const char*str1,const char*str2) MRPT_NO_THROWS;
00113 
00114                         /** An OS-independent version of strcmpi.
00115                           * \return It will return 0 when both strings are equal, casi insensitive.
00116                           */
00117                         int BASE_IMPEXP _strcmpi(const char*str1,const char*str2) MRPT_NO_THROWS;
00118 
00119                         /** An OS-independent version of strncmp.
00120                           * \return It will return 0 when both strings are equal, casi sensitive.
00121                           */
00122                         int BASE_IMPEXP _strncmp(const char*str,const char*subStr,size_t count) MRPT_NO_THROWS;
00123 
00124                         /** An OS-independent version of strnicmp.
00125                           * \return It will return 0 when both strings are equal, casi insensitive.
00126                           */
00127                         int BASE_IMPEXP _strnicmp(const char*str,const char*subStr,size_t count) MRPT_NO_THROWS;
00128 
00129                         /** An OS-independent version of strtoll.
00130                           */
00131                         int64_t BASE_IMPEXP _strtoll(const char *nptr, char **endptr, int base);
00132 
00133                         /** An OS-independent version of strtoull.
00134                           */
00135                         uint64_t BASE_IMPEXP _strtoull(const char *nptr, char **endptr, int base);
00136 
00137                         /** An OS-independent version of timegm (which is not present in all compilers): converts a time structure into an UTM time_t */
00138                         time_t BASE_IMPEXP timegm(struct tm *tm);
00139 
00140                         /** An OS and compiler independent version of "memcpy"
00141                           */
00142                         void BASE_IMPEXP memcpy(
00143                                 void            *dest,
00144                                 size_t          destSize,
00145                                 const void      *src,
00146                                 size_t          copyCount ) MRPT_NO_THROWS;
00147 
00148                         /** An OS-independent version of getch, which waits until a key is pushed.
00149                           * \return The pushed key code
00150                           */
00151                         int BASE_IMPEXP getch() MRPT_NO_THROWS;
00152 
00153                         /** An OS-independent version of kbhit, which returns true if a key has been pushed.
00154                           */
00155                         bool BASE_IMPEXP kbhit() MRPT_NO_THROWS;
00156 
00157                 }       // end namespace "os"
00158 
00159                 /** Shows the message "Press any key to continue" (or other custom message) to the current standard output and returns when a key is pressed.
00160                   */
00161                 void BASE_IMPEXP pause(const std::string &msg = std::string("Press any key to continue...") ) MRPT_NO_THROWS;
00162 
00163                 /** Clears the console window */
00164                 void BASE_IMPEXP clearConsole();
00165 
00166                 /** A useful function for debuging, which saves a std::vector into a text file (compat. with MATLAB)
00167                 * \return Returns false on any error, true on everything OK.
00168                 */
00169                 bool  BASE_IMPEXP vectorToTextFile( const std::vector<float> &vec, const std::string &fileName, bool append = false, bool byRows=false );
00170                 //! \overload
00171                 bool  BASE_IMPEXP vectorToTextFile( const std::vector<double> &vec, const std::string &fileName, bool append = false, bool byRows=false );
00172                 //! \overload
00173                 bool  BASE_IMPEXP vectorToTextFile( const std::vector<int> &vec, const std::string &fileName, bool append = false, bool byRows=false );
00174                 //! \overload
00175                 bool  BASE_IMPEXP vectorToTextFile( const std::vector<size_t> &vec, const std::string &fileName, bool append = false, bool byRows=false );
00176                 //! \overload
00177                 template <class Derived>
00178                 bool vectorToTextFile( const Eigen::MatrixBase<Derived> &vec, const std::string &fileName ) { 
00179                         try {
00180                                 vec.saveToTextFile(fileName); 
00181                                 return true;
00182                         } catch(...) {return false;}
00183                 }
00184 
00185                 /** Load a std::vector from a text file (compat. with MATLAB)
00186                 * \return Returns false on any error, true on everything OK.
00187                 * \sa loadBinaryFile
00188                 */
00189                 bool  BASE_IMPEXP vectorFromTextFile( std::vector<double> &vec, const std::string &fileName, const bool byRows=false );
00190 
00191                 /** Saves a vector directly as a binary dump to a file:
00192                 * \return Returns false on any error, true on everything OK.
00193                 * \sa loadBinaryFile
00194                 */
00195                 bool BASE_IMPEXP vectorToBinaryFile( const vector_byte &vec, const std::string &fileName );
00196 
00197                 /** Loads a entire file as a vector of bytes.
00198                 * \return Returns false on any error, true on everything OK.
00199                 * \sa vectorToBinaryFile
00200                 */
00201                 bool BASE_IMPEXP loadBinaryFile( vector_byte &out_data, const std::string &fileName );
00202 
00203                 /** Returns the MRPT compilation date
00204                   */
00205                 std::string BASE_IMPEXP MRPT_getCompilationDate();
00206 
00207                 /** Returns a string describing the MRPT version including the SVN number.
00208                   */
00209                 std::string BASE_IMPEXP MRPT_getVersion();
00210 
00211                 /** Call this to register handlers for fatal erros (memory access,etc) that show useful debug information (It is called automatically normally, no need for the user to explicitly call this method.).
00212                   */
00213                 void BASE_IMPEXP registerFatalExceptionHandlers();
00214 
00215                 /** Dumps the current program stack with detailed information of source files and lines.
00216                   *  This function requires MRPT linked against wxWidgets. Otherwise, an empty string is returned.
00217                   *  File names and lines won't be available in release builds.
00218                   */
00219                 std::string BASE_IMPEXP stack_trace(bool calling_from_exception = false);
00220 
00221                 /** For use in  setConsoleColor */
00222                 enum TConsoleColor
00223                 {
00224                         CONCOL_NORMAL = 0,
00225                         CONCOL_BLUE   = 1,
00226                         CONCOL_GREEN  = 2,
00227                         CONCOL_RED    = 4
00228                 };
00229 
00230                 /** Changes the text color in the console for the text written from now on.
00231                   * The parameter "color" can be any value in TConsoleColor.
00232                   *
00233                   * By default the color of "cout" is changed, unless changeStdErr=true, in which case "cerr" is changed.
00234                   */
00235                 void BASE_IMPEXP setConsoleColor( TConsoleColor color, bool changeStdErr=false );
00236 
00237         } // End of namespace
00238 
00239 } // End of namespace
00240 
00241 #endif



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