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MOOSUtilityFunctions.cpp
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MOOSUtilityFunctions.cpp
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/**
///////////////////////////////////////////////////////////////////////////
//
// This file is part of the MOOS project
//
// MOOS : Mission Oriented Operating Suite A suit of
// Applications and Libraries for Mobile Robotics Research
// Copyright (C) Paul Newman
//
// This software was written by Paul Newman at MIT 2001-2002 and
// the University of Oxford 2003-2013
//
// email: pnewman@robots.ox.ac.uk.
//
// This source code and the accompanying materials
// are made available under the terms of the GNU Lesser Public License v2.1
// which accompanies this distribution, and is available at
// http://www.gnu.org/licenses/lgpl.txt
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
//
////////////////////////////////////////////////////////////////////////////
**/
#ifdef _WIN32
#pragma warning(disable : 4786)
#endif
#include "MOOS/libMOOS/Utils/MOOSUtilityFunctions.h"
#include "MOOS/libMOOS/Utils/MOOSAssert.h"
#include "MOOS/libMOOS/Utils/MOOSScopedLock.h"
#include <algorithm>
#include <iterator>
#include <cctype>
#include <string>
#include <memory>
#include <cstring>
#include <map>
#include <time.h>
#include <stdarg.h>
#include <math.h>
#ifndef _WIN32
#include <unistd.h>
#include <sys/times.h>
#include <sys/time.h>
#include <termios.h>
#include <dirent.h>
#include <errno.h>
#include <pthread.h>
#endif
#ifdef _WIN32
#include "windows.h"
#include "winbase.h"
#include "winnt.h"
#include <conio.h>
#define snprintf _snprintf
#define vsnprintf _vsnprintf
#endif
#include <iostream>
#include <sstream>
#include <vector>
#include <iomanip>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/timeb.h>
#include <stdio.h>
#include <iostream>
#include <stdexcept>
#define ENABLE_WIN32_HPMOOSTIME 0
#define MAX_TIME_WARP 400
using namespace std;
#ifndef PI
#define PI 3.141592653
#endif
#ifndef TWO_PI
#define TWO_PI 6.28318530717
#endif
#ifdef _WIN32
typedef std::map<int,bool> THREAD2TRACE_MAP;
#else
typedef std::map<pthread_t,bool> THREAD2TRACE_MAP;
#endif
double gdfMOOSTimeWarp = 1.0;
double gdfMOOSSkew =0.0;
//NB new V10 functions will be namespaced....
namespace MOOS
{
double Time()
{
return MOOSTime();
}
std::string TimeToDate(double dfTime,bool bDate,bool bTime)
{
struct timeval TimeVal;
double integral,fractional;
fractional = modf(dfTime, &integral);
TimeVal.tv_sec = int(integral);
TimeVal.tv_usec = int(fractional*1000000.0);
time_t nowtime;
struct tm *nowtm;
char sdate[64], stime[32],stimeall[64]; //shrink stime so stimeall buffer
// is large enough to fit stime and usec
// and prevent compiler warning
nowtime = TimeVal.tv_sec;
nowtm = localtime(&nowtime);
if (!nowtm) // This happens e.g. when this is called with dfTime<0 (it really happens in MOOSDB!)
{
snprintf(stimeall, sizeof stimeall, "%03f", dfTime);
return std::string(stimeall);
}
strftime(sdate, sizeof sdate, "%Y-%m-%d ", nowtm);
strftime(stime, sizeof stime, "%H:%M:%S", nowtm);
snprintf(stimeall, sizeof stimeall, "%s.%03d", stime, (int)(TimeVal.tv_usec/1000));
std::string sResult;
if(bDate)
sResult+=std::string(sdate);
if(bTime)
sResult+=std::string(stimeall);
return sResult;
}
void Pause(int milliseconds,bool bApplyTimeWarp)
{
MOOSPause(milliseconds,bApplyTimeWarp);
}
std::string Chomp(string &sStr, const string &sTk,bool bInsensitive)
{
return MOOSChomp(sStr,sTk,bInsensitive);
}
std::vector<std::string > StringListToVector(std::string L, const std::string & tok )
{
std::vector<std::string > v;
while(!L.empty())
{
v.push_back(MOOS::Chomp(L,tok));
}
return v;
}
double StringToDouble(const std::string & sNum)
{
if(!MOOSIsNumeric(sNum))
throw std::runtime_error("MOOS::StringToDouble: "+sNum+" is not a number");
return atof(sNum.c_str());
}
}
void SetMOOSSkew(double dfSkew)
{
//printf("Clock Skew = %f seconds\n",dfSkew);
gdfMOOSSkew = dfSkew;
//a call to HPMOOSTime() sets up high performance clocks
HPMOOSTime();
}
double GetMOOSSkew()
{
return gdfMOOSSkew;
}
/** returns true if architecture is LittleEndian (true for x86 Architectures)
Note after first call it remembers answer in a static so v. littel overhead in
calling this function frequently*/
bool IsLittleEndian()
{
static bool bTested = false;
static bool bLittleEndIn = false;
if(!bTested)
{
short int word = 0x0001;
char *byte = (char *) &word;
bLittleEndIn = byte[0]==1;
bTested = true;
}
return bLittleEndIn;
}
bool gbWin32HPTiming = true;
bool SetWin32HighPrecisionTiming(bool bEnable)
{
UNUSED_PARAMETER(bEnable);
#ifndef _WIN32
return false;
#else
gbWin32HPTiming = bEnable;
return true;
#endif
}
double MOOSLocalTime(bool bApplyTimeWarping)
{
#ifndef _WIN32
double dfT=0.0;
struct timeval TimeVal;
if(gettimeofday(&TimeVal,NULL)==0)
{
dfT = TimeVal.tv_sec+TimeVal.tv_usec/1000000.0;
}
else
{
//lost the will to live.....
MOOSAssert(0);
dfT =-1;
}
if(bApplyTimeWarping)
return dfT*gdfMOOSTimeWarp;
else
return dfT;
#else
if( gbWin32HPTiming )
{
static LARGE_INTEGER liStart;
static LARGE_INTEGER liPerformanceFreq;
static double dfMOOSStart;
static bool bHPTimeInitialised=false;
//to do - we should consider thread saftery here..
if(!bHPTimeInitialised)
{
//initialise with crude time
struct _timeb timebuffer;
_ftime( &timebuffer );
dfMOOSStart = timebuffer.time+ ((double)timebuffer.millitm)/1000;
QueryPerformanceCounter(&liStart);
QueryPerformanceFrequency(&liPerformanceFreq);
bHPTimeInitialised=true;
return bApplyTimeWarping ? dfMOOSStart*gdfMOOSTimeWarp :dfMOOSStart;
}
else
{
//use fancy time
LARGE_INTEGER liNow;
QueryPerformanceCounter(&liNow);
double T = dfMOOSStart+(double)(liNow.QuadPart-liStart.QuadPart)/((double)(liPerformanceFreq.QuadPart));
return bApplyTimeWarping ? T*gdfMOOSTimeWarp :T;
}
}
else
{
//user has elected to use low precision win32 timing
struct _timeb timebuffer;
_ftime( &timebuffer );
double T = timebuffer.time + ((double)timebuffer.millitm)/1000.0;
return bApplyTimeWarping ? T*gdfMOOSTimeWarp : T;
}
#endif
}
double HPMOOSTime(bool bApplyTimeWarping)
{
return MOOSTime(bApplyTimeWarping);
}
double MOOSTime(bool bApplyTimeWarping)
{
return MOOSLocalTime(bApplyTimeWarping)+gdfMOOSSkew;
}
double GetMOOSTimeWarp()
{
return gdfMOOSTimeWarp;
}
bool SetMOOSTimeWarp(double dfWarp)
{
if(dfWarp>0 && dfWarp<=MAX_TIME_WARP)
{
gdfMOOSTimeWarp = dfWarp;
return true;
}
return false;//MOOSFail("Time warp must be positive and less than %f \n",MAX_TIME_WARP);
}
void MOOSPause(int nMS,bool bApplyTimeWarping)
{
#ifdef _WIN32
//nMS = int(double(nMS)/gdfMOOSTimeWarp);
::Sleep(nMS);
#else
double dfMilliSeconds = nMS;
if(bApplyTimeWarping)
dfMilliSeconds/=gdfMOOSTimeWarp;
timespec TimeSpec;
TimeSpec.tv_sec = (int)(dfMilliSeconds/1000);
//TimeSpec.tv_nsec = (nMS%1000) *1000000;
TimeSpec.tv_nsec = (int)(fmod(dfMilliSeconds,1000.0) *1000000);
nanosleep(&TimeSpec,NULL);
#endif
}
string MOOSChomp(string &sStr, const string &sTk,bool bInsensitive)
{
/*unsigned int*/ size_t nPos = string::npos;
if((nPos =MOOSStrFind(sStr,sTk,bInsensitive))!=string::npos)
{
string sRet;
sRet = sStr.substr(0,nPos);
sStr.erase(0,nPos+sTk.length());
return sRet;
}
else
{
string sTmp = sStr;
sStr="";
return sTmp;
}
}
//case insensitive character compare functor
struct CompareInsensitive: public std::binary_function< char, char, bool >
{
bool operator()(char lhs, char rhs)
{
return std::toupper(lhs) == std::toupper(rhs);
}
};
//case insensitive find
size_t MOOSStrFind(const std::string & sSource,const std::string & sToken,bool bInsensitive)
{
if(sToken.empty())
return std::string::npos;
if(bInsensitive)
{
std::string::const_iterator q = std::search(
sSource.begin(), sSource.end(),
sToken.begin(), sToken.end(),
CompareInsensitive());
if(q==sSource.end())
return std::string::npos;
else
{
return std::distance(sSource.begin(),q);
}
}
else
{
return sSource.find(sToken);
}
}
bool MOOSValFromString(string & sVal,const string & sStr,const string & sTk,bool bInsensitive)
{
if(sTk.find(",")!=std::string::npos)
return false;
size_t nPos = string::npos;
size_t k = 0;
while((nPos = MOOSStrFind(sStr.substr(k),sTk,bInsensitive))!=string::npos)
{
nPos+=k;
//we have the start of the token at nPos
//we need to be carefull here = there could be many spaces between token and =
/*unsigned int*/
size_t nEqualsPos = sStr.find('=',nPos);
size_t nLastComma = sStr.find_last_of(",",nPos);
size_t nLastChar;
if(nLastComma==std::string::npos)
{
nLastChar = sStr.find_first_not_of(" \t",0);
}
else
{
//starting from previous comma was when is the first non white space char?
nLastChar = sStr.find_first_not_of(" \t",nLastComma+1);
}
if(nLastChar!=nPos)
{
//this is not great extra chars found !
k =nPos+1;
continue;
}
//can we find an "="?
if(nEqualsPos!=string::npos)
{
//there should only be white space twixt token and equals
std::string t = sStr.substr(nPos+sTk.size(),nEqualsPos-(nPos+sTk.size()));
MOOSTrimWhiteSpace(t);
if(!t.empty())
{
//k = nEqualsPos;
k=nPos+1;
continue;
}
sVal="";
int nCommaPos =sStr.find(',',nEqualsPos);
sVal.append(sStr,nEqualsPos+1,nCommaPos-nEqualsPos-1);
MOOSTrimWhiteSpace(sVal);
return true;
}
else
{
return false;
}
}
return false;
}
bool MOOSValFromString(unsigned int & nVal,const string & sStr,const string & sTk,bool bInsensitive)
{
int nIntVal;
bool bSuccess = MOOSValFromString(nIntVal,sStr,sTk,bInsensitive);
if(bSuccess)
nVal = (unsigned int) nIntVal;
return bSuccess;
}
bool MOOSValFromString(int & nVal,const string & sStr,const string & sTk,bool bInsensitive)
{
string sVal;
if(MOOSValFromString(sVal,sStr,sTk,bInsensitive))
{
/*unsigned int*/ size_t nPos = sVal.find_first_not_of(' ');
if(nPos!=string::npos)
{
char c = sVal[nPos];
if(isdigit(c) || c=='-' || c=='+')
{
nVal = atoi(sVal.c_str());
return true;
}
}
}
return false;
}
//bool MOOSValFromString(long & nVal,const string & sStr,const string & sTk,bool bInsensitive)
//{
// string sVal;
//
// if(MOOSValFromString(sVal,sStr,sTk,bInsensitive))
// {
//
// /*unsigned int*/ size_t nPos = sVal.find_first_not_of(' ');
//
// if(nPos!=string::npos)
// {
// char c = sVal[nPos];
// if(isdigit(c) || c=='-' || c=='+')
// {
// nVal = atol(sVal.c_str());
// return true;
// }
// }
//
// }
// return false;
//}
bool MOOSValFromString(bool & bVal,const string & sStr,const string & sTk,bool bInsensitive)
{
string sVal;
if(MOOSValFromString(sVal,sStr,sTk,bInsensitive))
{
MOOSRemoveChars(sVal," ");
if(MOOSStrCmp(sVal,"true") || MOOSStrCmp(sVal,"1"))
{
bVal = true;
return true;
}
else if(MOOSStrCmp(sVal,"false") || MOOSStrCmp(sVal,"0"))
{
bVal = false;
return true;
}
}
return false;
}
bool MOOSValFromString(double & dfVal,const string & sStr,const string & sTk,bool bInsensitive)
{
string sVal;
if(MOOSValFromString(sVal,sStr,sTk,bInsensitive))
{
/*unsigned int*/ size_t nPos = sVal.find_first_not_of(' ');
if(nPos!=string::npos)
{
char c = sVal[nPos];
if(isdigit(c) || c=='.' || c=='-' || c=='+')
{
dfVal = atof(sVal.c_str());
return true;
}
}
}
return false;
}
bool MOOSValFromString(float & fVal,const string & sStr,const string & sTk,bool bInsensitive)
{
string sVal;
if(MOOSValFromString(sVal,sStr,sTk,bInsensitive))
{
/*unsigned int*/ size_t nPos = sVal.find_first_not_of(' ');
if(nPos!=string::npos)
{
char c = sVal[nPos];
if(isdigit(c) || c=='.' || c=='-' || c=='+')
{
fVal = static_cast<float> (atof(sVal.c_str()));
return true;
}
}
}
return false;
}
bool MOOSVectorFromString(const string & sStr,std::vector<double> & dfValVec,int & nRows, int & nCols)
{
/*unsigned int*/ size_t nPos = sStr.find('[');
if(nPos==string::npos)
return false;
nRows = atoi( sStr.data()+nPos+1);
//if we have [456] then implicitlyt we mean [456x1]
/*unsigned int*/ size_t nXPos = sStr.find('x',nPos);
nCols = 1;
if(nXPos!=string::npos)
{
nCols = atoi( sStr.data()+nXPos+1);
nPos = nXPos;
}
nPos = sStr.find('{',nPos);
if(nPos==string::npos)
return false;
if(nCols<=0 ||nRows<=0)
return false;
dfValVec.clear();
dfValVec.reserve(std::size_t(nRows)*std::size_t(nCols));
const char * pStr = sStr.data();
for(int i = 1; i<=nRows;i++)
{
for(int j = 1; j<=nCols;j++)
{
//double dfVal = atof(pStr+nPos+1);
char * pN;
double dfVal = strtod(pStr+nPos+1,&pN);
if(pN==pStr+nPos+1)
{
//this is bad the number was not converted!
return false;
}
dfValVec.push_back(dfVal);
nPos = sStr.find(',',nPos+1);
}
}
return true;
}
bool MOOSVectorFromString(const string & sStr,std::vector<float> & fValVec,int & nRows, int & nCols)
{
/*unsigned int*/ size_t nPos = sStr.find('[');
if(nPos==string::npos)
return false;
nRows = atoi( sStr.data()+nPos+1);
//if we have [456] then implicitlyt we mean [456x1]
/*unsigned int*/ size_t nXPos = sStr.find('x',nPos);
nCols = 1;
if(nXPos!=string::npos)
{
nCols = atoi( sStr.data()+nXPos+1);
nPos = nXPos;
}
nPos = sStr.find('{',nPos);
if(nPos==string::npos)
return false;
if(nCols<=0 ||nRows<=0)
return false;
fValVec.clear();
fValVec.reserve(std::size_t(nRows)*std::size_t(nCols));
const char * pStr = sStr.data();
for(int i = 1; i<=nRows;i++)
{
for(int j = 1; j<=nCols;j++)
{
// double dfVal = atof(pStr+nPos+1);
char * pN;
double dfVal = strtod(pStr+nPos+1,&pN);
if(pN==pStr+nPos+1)
{
//this is bad the number was not converted!
return false;
}
fValVec.push_back(static_cast<float> (dfVal));
nPos = sStr.find(',',nPos+1);
}
}
return true;
}
bool MOOSVectorFromString(const string & sStr,std::vector<unsigned int> & nValVec,int & nRows, int & nCols)
{
/*unsigned int*/ size_t nPos = sStr.find('[');
if(nPos==string::npos)
return false;
nRows = atoi( sStr.data()+nPos+1);
//if we have [456] then implicitlyt we mean [456x1]
/*unsigned int*/ size_t nXPos = sStr.find('x',nPos);
nCols = 1;
if(nXPos!=string::npos)
{
nCols = atoi( sStr.data()+nXPos+1);
nPos = nXPos;
}
nPos = sStr.find('{',nPos);
if(nPos==string::npos)
return false;
if(nCols<=0 ||nRows<=0)
return false;
nValVec.clear();
nValVec.reserve(std::size_t(nRows)*std::size_t(nCols));
const char * pStr = sStr.data();
for(int i = 1; i<=nRows;i++)
{
for(int j = 1; j<=nCols;j++)
{
//unsigned int nVal = atoi(pStr+nPos+1);
char * pN;
unsigned int nVal = strtoul(pStr+nPos+1,&pN,10);
if(pN==pStr+nPos+1)
{
//this is bad the number was not converted!
return false;
}
nValVec.push_back(nVal);
nPos = sStr.find(',',nPos+1);
}
}
return true;
}
bool MOOSValFromString(std::vector<double> &dfValVec,
int &nRows,
int &nCols,
const std::string & sStr,
const std::string & sToken,
bool bInsensitive)
{
/*unsigned int*/ size_t nPos = MOOSStrFind(sStr,sToken+'=',bInsensitive);
if(nPos==string::npos)
return false;
return MOOSVectorFromString(sStr.substr(nPos),dfValVec,nRows,nCols);
}
bool MOOSValFromString(std::vector<unsigned int> &nValVec,
int &nRows,
int &nCols,
const std::string & sStr,
const std::string & sToken,
bool bInsensitive)
{
size_t nPos = MOOSStrFind(sStr,sToken+'=',bInsensitive);
if(nPos==string::npos)
return false;
return MOOSVectorFromString(sStr.substr(nPos),nValVec,nRows,nCols);
}
bool MOOSValFromString(int64_t & nVal,const string & sStr,const string & sTk,bool bInsensitive)
{
std::string sVal;
if(MOOSValFromString(sVal,sStr,sTk,bInsensitive))
{
if( !(std::stringstream(sVal) >> nVal))
return false;
else
return true;
}
return false;
}
bool GetNextAlogLineByMessageName(std::istream & Input,
const std::string & sMessageName,
double & dfTime,
std::string & sSource,
std::string & sPayload)
{
while (!Input.eof())
{
std::string sLine;
std::getline(Input,sLine);
if(!sLine.empty() && sLine[0]!='%')
{
std::string sWhat,sWho;
std::stringstream ss(sLine);
ss>>dfTime;
ss>>sWhat;
if(MOOSStrCmp(sWhat,sMessageName))
{
ss>>sSource;
std::getline(ss,sPayload);
return true;
}
}
}
return false;
}
double MOOS_ANGLE_WRAP(double dfAng)
{
if(dfAng<PI && dfAng>-PI)
return dfAng;
// Shift so that problem is now to wrap between (0, 2*PI)
dfAng += PI;
// Wrap
dfAng = fmod(dfAng, 2*PI);
// fmod seems to ignore the -ve...
if (dfAng < 0) dfAng += 2*PI;
// Shift back
return (dfAng == 0.0 ? PI : dfAng-PI);
// Old version did not cope with multiple wraps
//return (dfAng+(dfAng>PI ? -TWO_PI :TWO_PI));
}
/** limit dfVal to lie between +/- dfLimit) */
bool MOOSAbsLimit(double & dfVal,double dfLimit)
{
if(dfVal>dfLimit)
{
dfVal = dfLimit;
return true;
}
else if(dfVal<-dfLimit)
{
dfVal = -dfLimit;
return true;
}
return false;
}
bool MOOSStrCmp(string s1,string s2)
{
MOOSToUpper(s1);
MOOSToUpper(s2);
return s1 == s2;
}
string MOOSGetDate(double t)
{
#ifndef _WIN32
struct timeb timebuffer;
ftime( &timebuffer );
if(t<0)
timebuffer.time = 0;
char *timeline = ctime( & ( timebuffer.time ) );
char sResult[100];
sprintf(sResult,"%s",timeline);
string sAnswer =sResult;
return sAnswer;
#else
struct _timeb timebuffer;
_ftime( &timebuffer );
if(t<0)
timebuffer.time = 0;
char *timeline = ctime( & ( timebuffer.time ) );
char sResult[100];
sprintf(sResult,"%s",timeline);
string sAnswer =sResult;
return sAnswer;
#endif
}
bool MOOSWildCmp(const std::string & sPattern, const std::string & sString )
{
const char * sWild = sPattern.c_str();
const char * sStr = sString.c_str();
// Based on code originally written by Jack Handy
const char *cp = NULL, *mp = NULL;
while ((*sStr) && (*sWild != '*'))
{
//no active wild card in place
if ((*sWild != *sStr) && (*sWild != '?'))
{
//no single char wildcard in place and
//differing characters
return false;
}
//step on in lockstep
sWild++;
sStr++;
}
while (*sStr)
{
//still more of sStr to explore
if (*sWild == '*')
{
if (!*++sWild)
{
//this * was the last character in the wildcard string
//any remaining string is fine...
return true;
}
//sWild is now one past the *
mp = sWild;
cp = sStr+1;
}
else if ((*sWild == *sStr) || (*sWild == '?'))