os.cpp

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#include "base-precomp.h"  // Precompiled headers

#include <mrpt/system/os.h>
#include <mrpt/system/filesystem.h>

#ifndef HAVE_TIMEGM
#   include <mrpt/synch/CCriticalSection.h>
#endif // HAVE_TIMEGM

#include <cstring>
#include <float.h>
#include <iostream>
#include <algorithm>
#include <cctype>
#include <ctime>
#include <cstdio>

#ifdef MRPT_OS_WINDOWS
    #include <conio.h>
        #include <windows.h>
        #include <tlhelp32.h>
        #include <sys/utime.h>
        #include <io.h>
        #include <direct.h>
#else
    #include <pthread.h>
    #include <termios.h>
        #include <poll.h>
    #include <unistd.h>
    #include <sys/select.h>
    #include <sys/time.h>
    #include <time.h>
        #include <unistd.h>
        #include <utime.h>
        #include <errno.h>
//      #include <signal.h>
#endif

#include <sys/types.h>
#include <sys/stat.h>

#ifdef MRPT_OS_LINUX
        #define _access access
        #define _rmdir rmdir
        #define _stat stat
#endif

#include <sstream>

using namespace mrpt;
using namespace mrpt::utils;
using namespace mrpt::system;
using namespace std;

#ifndef MRPT_OS_WINDOWS
    /** By ninjalj in http://stackoverflow.com/questions/3962263/checking-if-a-key-was-pressed
      */
        void my_aux_sighandler(int) {}

    int myKbhit(void)
    {
                struct termios oldtio, curtio;
//              struct sigaction sa;

                /* Save stdin terminal attributes */
                tcgetattr(0, &oldtio);

//              memset(&sa, 0, sizeof(struct sigaction));

                /* Set non-canonical no-echo for stdin */
                tcgetattr(0, &curtio);
                curtio.c_lflag &= ~(ICANON | ECHO);
                tcsetattr(0, TCSANOW, &curtio);

                struct pollfd pfds[1];

                /* See if there is data available */
                pfds[0].fd = 0;
                pfds[0].events = POLLIN;
                const int ret = poll(pfds, 1, 0);

                /* restore terminal attributes */
                tcsetattr(0, TCSANOW, &oldtio);

                return (ret > 0);
    }

#endif

/*---------------------------------------------------------------
                                        timegm
  ---------------------------------------------------------------*/
#ifdef HAVE_TIMEGM
        time_t mrpt::system::os::timegm(struct tm *tm)
        {
                return ::timegm(tm);
        }
#else
        // Version for MSVC>=2005, which lacks "timegm"
        #ifdef HAVE_MKGMTIME
                time_t mrpt::system::os::timegm(struct tm *tm)
                {
                        return ::_mkgmtime(tm);
                }
        #else
                // generic version, slower but probably not used in any modern compiler!
                time_t mrpt::system::os::timegm(struct tm *tm)
                {
                        static mrpt::synch::CCriticalSection cs;
                        mrpt::synch::CCriticalSectionLocker locker(&cs);

                        time_t ret;
                        char tz[256];

                        /* save current timezone and set UTC */
                        char *org_tz = getenv("TZ");
                        if (org_tz) os::strcpy(tz,sizeof(tz),org_tz);

                        putenv("TZ=UTC");   /* use Coordinated Universal Time (i.e. zero offset) */
                        tzset();

                        ret = mktime(tm);
                        if(org_tz)
                        {
                                char buf[256];
                                mrpt::system::os::sprintf(buf, sizeof(buf), "TZ=%s", tz);
                                putenv(buf);
                        } else
                                putenv("TZ=");
                        tzset();

                        return ret;
                }

        #endif
#endif  // HAVE_TIMEGM

/*---------------------------------------------------------------
                                        mrpt::system::MRPT_getCompilationDate
---------------------------------------------------------------*/
#include <mrpt/version.h>
#include <errno.h>
#include <limits>
#include <climits>
#include <ctime>
#include <cstdlib>

string mrpt::system::MRPT_getCompilationDate()
{
        time_t now;
        char *endptr;
        const char *source_date_epoch = MRPT_SOURCE_DATE_EPOCH;

        errno = 0;
        unsigned long epoch = strtoul(source_date_epoch, &endptr, 10);
        if (epoch==0 || ((errno == ERANGE && (epoch == std::numeric_limits<unsigned long>::max() || epoch == 0)) || (errno != 0 && epoch == 0))) {
                // Last resort:
                now = time(NULL);
        }
        else {
                now = epoch;
        }
        struct tm *build_time = gmtime(&now);
        const int year  = build_time->tm_year + 1900;
        const int month = build_time->tm_mon + 1;
        const int day   = build_time->tm_mday;

        return mrpt::format("%i-%02i-%02i %02i:%02i:%02i UTC",year,month,day, build_time->tm_hour,build_time->tm_min, build_time->tm_sec);
}

/*---------------------------------------------------------------
                                        mrpt::system::MRPT_getVersion
---------------------------------------------------------------*/
string mrpt::system::MRPT_getVersion()
{
        return string(::MRPT_version_str);
}

/*---------------------------------------------------------------
                                                sprintf
---------------------------------------------------------------*/
int os::sprintf(char *buf, size_t bufSize, const char *format, ...) MRPT_NO_THROWS
{
        MRPT_UNUSED_PARAM(bufSize);

        int                     result;
        va_list         ap;
        va_start (ap, format);

#if defined(_MSC_VER) && (_MSC_VER>=1400)
        // Use a secure version in Visual Studio 2005:
        result = ::vsprintf_s (buf, bufSize, format, ap);
#else
        // Use standard version:
        result = ::vsprintf (buf, format, ap);
#endif

        va_end (ap);
        return result;
}

/*---------------------------------------------------------------
                                        vsprintf
---------------------------------------------------------------*/
int os::vsprintf(char *buf, size_t bufSize, const char *format, va_list args) MRPT_NO_THROWS
{
        MRPT_UNUSED_PARAM(bufSize);
#if defined(_MSC_VER) && (_MSC_VER>=1400)
        // Use a secure version in Visual Studio 2005:
        return ::vsprintf_s (buf, bufSize, format, args);
#else
        // Use standard version:
        return ::vsprintf (buf, format, args);
#endif
}

/*---------------------------------------------------------------
                                vsnprintf
---------------------------------------------------------------*/
int os::vsnprintf(char *buf, size_t bufSize, const char *format, va_list args) MRPT_NO_THROWS
{
#if defined(_MSC_VER)
        #if (_MSC_VER>=1400)
                // Use a secure version in Visual Studio 2005:
                return ::vsnprintf_s (buf, bufSize, _TRUNCATE, format, args);
        #else
                return ::vsprintf(buf,format, args);
        #endif
#else
        // Use standard version:
        return ::vsnprintf(buf, bufSize,format, args);
#endif
}

/*---------------------------------------------------------------
                                        fopen
---------------------------------------------------------------*/
FILE * os::fopen(const std::string &fileName,const char *mode) MRPT_NO_THROWS
{
        return fopen(fileName.c_str(),mode);
}

/*---------------------------------------------------------------
                                        fopen
---------------------------------------------------------------*/
FILE * os::fopen(const char *fileName,const char *mode) MRPT_NO_THROWS
{
#if defined(_MSC_VER) && (_MSC_VER>=1400)
        // Use a secure version in Visual Studio 2005:
        FILE    *f;
        if (0 != ::fopen_s(&f,fileName,mode))
                        return NULL;
        else    return f;
#else
        // Use standard version:
        return ::fopen(fileName,mode);
#endif
}

/*---------------------------------------------------------------
                                        fclose
---------------------------------------------------------------*/
void os::fclose(FILE *f)
{
        if (!f) THROW_EXCEPTION("Trying to close a NULL 'FILE*' descriptor")
        ::fclose(f);
}

/*---------------------------------------------------------------
                                                strcat
---------------------------------------------------------------*/
char * os::strcat(char *dest, size_t destSize, const char *source) MRPT_NO_THROWS
{
        MRPT_UNUSED_PARAM(destSize);

#if defined(_MSC_VER) && (_MSC_VER>=1400)
        ::strcat_s(dest,destSize,source);
#else
        ::strcat(dest,source);
#endif
        return dest;
}

/*---------------------------------------------------------------
                                                strcpy
---------------------------------------------------------------*/
char * os::strcpy(char *dest, size_t destSize, const char *source) MRPT_NO_THROWS
{
        MRPT_UNUSED_PARAM(destSize);

#if defined(_MSC_VER) && (_MSC_VER>=1400)
        ::strcpy_s(dest,destSize,source);
#else
        ::strcpy(dest,source);
#endif
        return dest;
}


/*---------------------------------------------------------------
                                                strcmp
---------------------------------------------------------------*/
int os::_strcmp(const char*str1,const char*str2) MRPT_NO_THROWS
{
        return ::strcmp(str1,str2);
}

/*---------------------------------------------------------------
                                                strcmpi
---------------------------------------------------------------*/
int os::_strcmpi(const char*str1,const char*str2) MRPT_NO_THROWS
{
#ifdef MRPT_OS_WINDOWS
    #if defined(_MSC_VER) && (_MSC_VER>=1400)
        return ::_strcmpi(str1,str2);
    #else
        return ::strcmpi(str1,str2);
    #endif
#else
    return ::strcasecmp(str1,str2);
#endif
}

/** An OS-independent version of strncmp.
* \return It will return 0 when both strings are equal, casi sensitive.
*/
int os::_strncmp(const char*str1,const char*str2,size_t count) MRPT_NO_THROWS
{
    return ::strncmp(str1,str2,count);
}

/** An OS-independent version of strnicmp.
* \return It will return 0 when both strings are equal, casi insensitive.
*/
int os::_strnicmp(const char*str1,const char*str2,size_t count) MRPT_NO_THROWS
{
#if defined(_MSC_VER)
        return ::_strnicmp(str1,str2,count);
#else
    return ::strncasecmp(str1,str2,count);
#endif
}



/*---------------------------------------------------------------
                                                memcpy
---------------------------------------------------------------*/
void os::memcpy(
        void            *dest,
        size_t          destSize,
        const void      *src,
        size_t          copyCount) MRPT_NO_THROWS
{
#if defined(_MSC_VER) && (_MSC_VER>=1400)
        ::memcpy_s(dest,destSize,src,copyCount);
#else
        MRPT_UNUSED_PARAM(destSize);
        ::memcpy(dest,src,copyCount);
#endif
}

/*---------------------------------------------------------------
                                                getch
---------------------------------------------------------------*/
int os::getch() MRPT_NO_THROWS
{
#ifdef MRPT_OS_WINDOWS
        return ::getch(); // cin.get();
#else
        struct termios oldt,
        newt;
        int ch;
        tcgetattr(STDIN_FILENO, &oldt);
        newt = oldt;
        newt.c_lflag &= ~(ICANON | ECHO);
        tcsetattr(STDIN_FILENO, TCSANOW, &newt);
        ch = getchar();
        tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
        return ch;
#endif
}

/*---------------------------------------------------------------
                                                kbhit
---------------------------------------------------------------*/
bool os::kbhit() MRPT_NO_THROWS
{
#ifdef MRPT_OS_WINDOWS
    #if defined(_MSC_VER) && (_MSC_VER>=1400)
        return ::_kbhit() != 0;
    #else
        return ::kbhit() != 0;
    #endif
#else
    return myKbhit();
#endif
}

/*---------------------------------------------------------------
                                                os::fprintf
---------------------------------------------------------------*/
int os::fprintf(FILE *fil, const char *frm, ...) MRPT_NO_THROWS
{
        int                     result;
        va_list         ap;
        va_start(ap, frm);

#if defined(_MSC_VER) && (_MSC_VER>=1400)
        // Use a secure version in Visual Studio 2005:
        result = ::vfprintf_s(fil, frm, ap);

#else
        // Use standard version:
        result = ::vfprintf(fil, frm, ap);
#endif

        va_end (ap);
        return result;
}


/*---------------------------------------------------------------
                                        mrpt::system::pause
---------------------------------------------------------------*/
void mrpt::system::pause(const std::string &msg) MRPT_NO_THROWS
{
        std::cout << msg << std::endl;
        os::getch();
}

/*---------------------------------------------------------------
                                        clearConsole
---------------------------------------------------------------*/
void mrpt::system::clearConsole()
{
#ifdef MRPT_OS_WINDOWS
        int ret=::system("cls");
#else
        int ret=::system("clear");
#endif
        if (ret)
                cerr << "[mrpt::system::clearConsole] Error invoking 'clear screen' " << endl;
}


/*---------------------------------------------------------------
                                        _strtoll
  ---------------------------------------------------------------*/
int64_t mrpt::system::os::_strtoll(const char *nptr, char **endptr, int base)
{
#ifdef MRPT_OS_WINDOWS
        return (int64_t) ::strtol(nptr, endptr, base);
#else
        return (int64_t) ::strtoll(nptr, endptr, base);
#endif

}

/*---------------------------------------------------------------
                                        _strtoull
  ---------------------------------------------------------------*/
uint64_t mrpt::system::os::_strtoull(const char *nptr, char **endptr, int base)
{
#ifdef MRPT_OS_WINDOWS
        return (uint64_t) ::strtoul(nptr, endptr, base);
#else
        return (uint64_t) ::strtoull(nptr, endptr, base);
#endif

}

/** Changes the text color in the console for the text written from now on.
  * The parameter "color" can be:
  *  - 0 : Normal text color
  *  - 1 : Blue text color
  *  - 2 : Green text color
  *  - 4 : Red text color
  */
void mrpt::system::setConsoleColor(TConsoleColor color,bool changeStdErr)
{
        static const int TS_NORMAL = 0;
        static const int TS_BLUE   = 1;
        static const int TS_GREEN  = 2;
        static const int TS_RED    = 4;
#ifdef MRPT_OS_WINDOWS
    static int normal_attributes = -1;
    HANDLE hstdout = GetStdHandle(changeStdErr ? STD_ERROR_HANDLE : STD_OUTPUT_HANDLE);
        fflush(changeStdErr ? stderr: stdout);

    if(normal_attributes < 0)
    {
        CONSOLE_SCREEN_BUFFER_INFO info;
        GetConsoleScreenBufferInfo(hstdout, &info);
        normal_attributes = info.wAttributes;
    }

    SetConsoleTextAttribute(hstdout,
        (WORD)(color == TS_NORMAL ? normal_attributes :
        ((color & TS_BLUE ? FOREGROUND_BLUE : 0)|
        (color & TS_GREEN ? FOREGROUND_GREEN : 0)|
        (color & TS_RED ? FOREGROUND_RED : 0)|FOREGROUND_INTENSITY)));
#else
        // *nix:
    static const uint8_t ansi_tab[] = { 30, 34, 32, 36, 31, 35, 33, 37 };
    int code = 0;
        fflush(changeStdErr ? stdout:stderr);
    if(color != TS_NORMAL)
        code = ansi_tab[color & (TS_BLUE|TS_GREEN|TS_RED)];
    fprintf(changeStdErr ? stdout:stderr, "\x1b[%dm", code);
#endif
}

const char* sLicenseTextF =
"                     Mobile Robot Programming Toolkit (MRPT)                \n"
"                          http://www.mrpt.org/                              \n"
"                                                                            \n"
" Copyright (c) 2005-%Y, Individual contributors, see AUTHORS file         \n"
" See: http://www.mrpt.org/Authors - All rights reserved.                   \n"
" Released under BSD License. See details in http://www.mrpt.org/License    \n";

const std::string & mrpt::system::getMRPTLicense()
{
        static bool sLicenseTextReady = false;
        static std::string sLicenseText;

        if (!sLicenseTextReady)
        {
                // Automatically update the last year of the copyright to the compilation date:
                time_t rawtime;
                struct tm * timeinfo;
                time (&rawtime);
                timeinfo = localtime (&rawtime);

                char buf[1024];
                ::strftime(buf,sizeof(buf),sLicenseTextF,timeinfo);
                sLicenseText = std::string(buf);
                sLicenseTextReady=true;
        }
        return sLicenseText;
}

#include <mrpt/mrpt_paths_config.h>
std::string mrpt::system::find_mrpt_shared_dir()
{
        static bool mrpt_shared_first_call = true;
        static std::string found_mrpt_shared_dir;

        if (mrpt_shared_first_call)
        {
                mrpt_shared_first_call = false;

                for (int attempt = 0; ; attempt++)
                {
                        std::string dir;
                        switch (attempt)
                        {
                        case 0:
                                dir = string(MRPT_SOURCE_BASE_DIRECTORY) + string("/share/mrpt/");
                                break;
                        case 1:
                                dir = string(MRPT_INSTALL_PREFIX_DIRECTORY) + string("/share/mrpt/");
                                break;
#ifdef _WIN32
                        case 2:
                        {
                                char curExe[4096];
                                GetModuleFileNameA(NULL,curExe, sizeof(curExe));

                                dir = mrpt::system::extractFileDirectory(std::string(curExe)) + "/../share/mrpt/";
                        }
                                break;
#endif

                        default:
                                found_mrpt_shared_dir = ".";
                                break;
                        };
                        if (!dir.empty() && mrpt::system::directoryExists(dir))
                                found_mrpt_shared_dir = dir;

                        if (!found_mrpt_shared_dir.empty())
                                break;
                }
        }

        return found_mrpt_shared_dir;
} // end of find_mrpt_shared_dir

int mrpt::system::executeCommand(
                const std::string&  command,
    std::string* output/*=NULL*/,
    const std::string&  mode/*="r"*/)
{
        using namespace std;

  // Create the stringstream
  stringstream sout;

#ifdef MRPT_OS_LINUX
  // Run Popen
  FILE *in;
  char buff[512];

  // Test output
  if (!(in = popen(command.c_str(), mode.c_str()))) {
    sout << "Popen Execution failed!" << endl;
    *output = sout.str();

    return -1;
  }

  // Parse output
  while(fgets(buff, sizeof(buff), in)!=NULL){
    sout << buff;
  }

  // Close
  int exit_code = pclose(in);

  // set output - if valid pointer given
  if (output) {
    *output = sout.str();
  }

  // Return exit code
  return exit_code;
#else
        MRPT_TODO("Write popen alternative for Windows")
        THROW_EXCEPTION("not implemented for Windows yet!");
#endif

} // end of executeCommand