Detailed Description

Header: #include <mrpt/system/os.h>.

Collaboration diagram for OS and compiler abstraction:

Enumerations
enum	mrpt::system::TConsoleColor { mrpt::system::CONCOL_NORMAL = 0, mrpt::system::CONCOL_BLUE = 1, mrpt::system::CONCOL_GREEN = 2, mrpt::system::CONCOL_RED = 4 }
	For use in setConsoleColor. More...

Functions
int	mrpt::system::os::sprintf (char buf, size_t bufSize, const char format,...) noexcept MRPT_printf_format_check(3
	An OS-independent version of sprintf (Notice the bufSize param, which may be ignored in some compilers) More...

int int	mrpt::system::os::vsprintf (char buf, size_t bufSize, const char format, va_list args) noexcept
	An OS-independent version of vsprintf (Notice the bufSize param, which may be ignored in some compilers) More...

int	mrpt::system::os::vsnprintf (char buf, size_t bufSize, const char format, va_list args) noexcept
	An OS-independent version of vsnprintf (Notice the bufSize param, which may be ignored in some compilers) More...

FILE *	mrpt::system::os::fopen (const char fileName, const char mode) noexcept
	An OS-independent version of fopen. More...

FILE *	mrpt::system::os::fopen (const std::string &fileName, const char *mode) noexcept
	An OS-independent version of fopen (std::string version) More...

int	mrpt::system::os::fprintf (FILE fil, const char format,...) noexcept MRPT_printf_format_check(2
	An OS-independent version of fprintf. More...

int void	mrpt::system::os::fclose (FILE *f)
	An OS-independent version of fclose. More...

char *	mrpt::system::os::strcat (char dest, size_t destSize, const char source) noexcept
	An OS-independent version of strcat. More...

char *	mrpt::system::os::strcpy (char dest, size_t destSize, const char source) noexcept
	An OS-independent version of strcpy. More...

int	mrpt::system::os::_strcmp (const char str1, const char str2) noexcept
	An OS-independent version of strcmp. More...

int	mrpt::system::os::_strcmpi (const char str1, const char str2) noexcept
	An OS-independent version of strcmpi. More...

int	mrpt::system::os::_strncmp (const char str, const char subStr, size_t count) noexcept
	An OS-independent version of strncmp. More...

int	mrpt::system::os::_strnicmp (const char str, const char subStr, size_t count) noexcept
	An OS-independent version of strnicmp. More...

int64_t	mrpt::system::os::_strtoll (const char nptr, char *endptr, int base)
	An OS-independent version of strtoll. More...

uint64_t	mrpt::system::os::_strtoull (const char nptr, char *endptr, int base)
	An OS-independent version of strtoull. More...

time_t	mrpt::system::os::timegm (struct tm *tm)
	An OS-independent version of timegm (which is not present in all compilers): converts a time structure into an UTM time_t. More...

void	mrpt::system::os::memcpy (void dest, size_t destSize, const void src, size_t copyCount) noexcept
	An OS and compiler independent version of "memcpy". More...

int	mrpt::system::os::getch () noexcept
	An OS-independent version of getch, which waits until a key is pushed. More...

bool	mrpt::system::os::kbhit () noexcept
	An OS-independent version of kbhit, which returns true if a key has been pushed. More...

void	mrpt::system::pause (const std::string &msg=std::string("Press any key to continue...")) noexcept
	Shows the message "Press any key to continue" (or other custom message) to the current standard output and returns when a key is pressed. More...

void	mrpt::system::clearConsole ()
	Clears the console window. More...

std::string	mrpt::system::MRPT_getCompilationDate ()
	Returns the MRPT source code timestamp, according to the Reproducible-Builds specifications: https://reproducible-builds.org/specs/source-date-epoch/. More...

std::string	mrpt::system::MRPT_getVersion ()
	Returns a string describing the MRPT version. More...

const std::string &	mrpt::system::getMRPTLicense ()
	Returns a const ref to a text with the same text that appears at the beginning of each MRPT file (useful for displaying the License text in GUIs) More...

std::string	mrpt::system::find_mrpt_shared_dir ()
	Finds the "[MRPT]/share/mrpt/" directory, if available in the system. More...

void	mrpt::system::setConsoleColor (TConsoleColor color, bool changeStdErr=false)
	Changes the text color in the console for the text written from now on. More...

int	mrpt::system::executeCommand (const std::string &command, std::string *output=nullptr, const std::string &mode="r")
	Execute Generic Shell Command. More...

bool	mrpt::system::launchProcess (const std::string &command)
	Executes the given command (which may contain a program + arguments), and waits until it finishes. More...

Enumeration Type Documentation

◆ TConsoleColor

enum mrpt::system::TConsoleColor

For use in setConsoleColor.

Enumerator
CONCOL_NORMAL
CONCOL_BLUE
CONCOL_GREEN
CONCOL_RED

Definition at line 162 of file os.h.

Function Documentation

◆ _strcmp()

int mrpt::system::os::_strcmp	(	const char *	str1,
		const char *	str2
	)

noexcept

An OS-independent version of strcmp.

Returns: It will return 0 when both strings are equal, casi sensitive.

Definition at line 312 of file os.cpp.

Referenced by mrpt::system::strCmp().

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◆ _strcmpi()

int mrpt::system::os::_strcmpi	(	const char *	str1,
		const char *	str2
	)

noexcept

An OS-independent version of strcmpi.

Returns: It will return 0 when both strings are equal, casi insensitive.

Definition at line 320 of file os.cpp.

Referenced by mrpt::obs::CSensoryFrame::eraseByLabel(), mrpt::system::CDirectoryExplorer::filterByExtension(), mrpt::hmtslam::CPropertiesValuesList::get(), mrpt::hmtslam::CMHPropertiesValuesList::get(), mrpt::hmtslam::CMHPropertiesValuesList::getAnyHypothesis(), mrpt::hmtslam::CHierarchicalMapMHPartition::getNodeByLabel(), mrpt::obs::CSensoryFrame::getObservationBySensorLabel(), mrpt::config::CConfigFileBase::keyExists(), mrpt::hwdrivers::CGPSInterface::OnConnectionEstablished(), mrpt::hmtslam::CMHPropertiesValuesList::remove(), mrpt::config::CConfigFileBase::sectionExists(), mrpt::hmtslam::CPropertiesValuesList::set(), mrpt::hmtslam::CMHPropertiesValuesList::set(), mrpt::hwdrivers::CGPSInterface::setJAVAD_AIM_mode(), mrpt::hmtslam::CMHPropertiesValuesList::setMemoryReference(), mrpt::system::strCmpI(), and mrpt::hwdrivers::CGPSInterface::unsetJAVAD_AIM_mode().

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◆ _strncmp()

int mrpt::system::os::_strncmp	(	const char *	str1,
		const char *	str2,
		size_t	count
	)

noexcept

An OS-independent version of strncmp.

Returns: It will return 0 when both strings are equal, casi sensitive.

Definition at line 336 of file os.cpp.

Referenced by mrpt::system::strStarts().

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◆ _strnicmp()

int mrpt::system::os::_strnicmp	(	const char *	str1,
		const char *	str2,
		size_t	count
	)

noexcept

An OS-independent version of strnicmp.

Returns: It will return 0 when both strings are equal, casi insensitive.

Definition at line 344 of file os.cpp.

Referenced by mrpt::system::strStartsI().

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◆ _strtoll()

int64_t mrpt::system::os::_strtoll	(	const char *	nptr,
		char **	endptr,
		int	base
	)

An OS-independent version of strtoll.

Definition at line 454 of file os.cpp.

◆ _strtoull()

uint64_t mrpt::system::os::_strtoull	(	const char *	nptr,
		char **	endptr,
		int	base
	)

An OS-independent version of strtoull.

Definition at line 466 of file os.cpp.

Referenced by mrpt::config::CConfigFileBase::read_uint64_t().

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◆ clearConsole()

void mrpt::system::clearConsole ( )

Clears the console window.

Definition at line 439 of file os.cpp.

◆ executeCommand()

int mrpt::system::executeCommand	(	const std::string &	command,
		std::string *	output = `nullptr`,
		const std::string &	mode = `"r"`
	)

Execute Generic Shell Command.

Parameters

[in]	command	Command to execute
[out]	output	Pointer to string containing the shell output
[in]	mode	read/write access

Returns: 0 for success, -1 otherwise.

Note: Original code snippet found in http://stackoverflow.com/a/30357710

Definition at line 660 of file os.cpp.

References winerror2str().

Referenced by mrpt::comms::net::Ping().

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◆ fclose()

void mrpt::system::os::fclose ( FILE * f )

An OS-independent version of fclose.

Exceptions

std::exception On trying to close a nullptr file descriptor.

Definition at line 275 of file os.cpp.

References THROW_EXCEPTION.

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◆ find_mrpt_shared_dir()

std::string mrpt::system::find_mrpt_shared_dir ( )

Finds the "[MRPT]/share/mrpt/" directory, if available in the system.

This searches in (1) source code tree, (2) install target paths.

Definition at line 611 of file os.cpp.

References dir, mrpt::system::directoryExists(), and mrpt::system::extractFileDirectory().

Referenced by run_rnav_test().

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◆ fopen() [1/2]

FILE * mrpt::system::os::fopen	(	const char *	fileName,
		const char *	mode
	)

noexcept

An OS-independent version of fopen.

Returns: It will always return nullptr on any error.

Definition at line 257 of file os.cpp.

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◆ fopen() [2/2]

FILE * mrpt::system::os::fopen	(	const std::string &	fileName,
		const char *	mode
	)

noexcept

An OS-independent version of fopen (std::string version)

Returns: It will always return nullptr on any error.

Definition at line 249 of file os.cpp.

References mrpt::system::os::fopen().

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◆ fprintf()

int mrpt::system::os::fprintf	(	FILE *	fil,
		const char *	format,
			...
	)

noexcept

An OS-independent version of fprintf.

Definition at line 408 of file os.cpp.

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◆ getch()

int mrpt::system::os::getch ( )

noexcept

An OS-independent version of getch, which waits until a key is pushed.

Returns: The pushed key code

Definition at line 370 of file os.cpp.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::system::pause(), mrpt::apps::ICP_SLAM_App_Base::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), mrpt::apps::KFSLAMApp::Run_KF_SLAM(), and mrpt::gui::CBaseGUIWindow::waitForKey().

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◆ getMRPTLicense()

const std::string & mrpt::system::getMRPTLicense ( )

Returns a const ref to a text with the same text that appears at the beginning of each MRPT file (useful for displaying the License text in GUIs)

Definition at line 541 of file os.cpp.

References sLicenseTextF.

Referenced by CAboutBoxBase::license().

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◆ kbhit()

bool mrpt::system::os::kbhit ( )

noexcept

An OS-independent version of kbhit, which returns true if a key has been pushed.

Definition at line 392 of file os.cpp.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::apps::RawlogGrabberApp::run(), mrpt::apps::ICP_SLAM_App_Base::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), mrpt::apps::KFSLAMApp::Run_KF_SLAM(), and mrpt::gui::CBaseGUIWindow::waitForKey().

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◆ launchProcess()

bool mrpt::system::launchProcess ( const std::string & command )

Executes the given command (which may contain a program + arguments), and waits until it finishes.

Returns: false on any error, true otherwise

Definition at line 581 of file os.cpp.

References winerror2str().

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◆ memcpy()

void mrpt::system::os::memcpy	(	void *	dest,
		size_t	destSize,
		const void *	src,
		size_t	copyCount
	)

noexcept

An OS and compiler independent version of "memcpy".

Referenced by bit_cast(), mrpt::io::CMemoryStream::CMemoryStream(), mrpt::math::CSparseMatrix::construct_from_mrpt_mat(), mrpt::config::simpleini::SI_ConvertA< char >::ConvertFromStore(), mrpt::config::simpleini::SI_ConvertA< char >::ConvertToStore(), mrpt::math::CSparseMatrix::copy(), mrpt::config::simpleini::CSimpleIniTempl< SI_CHAR, SI_STRLESS, SI_CONVERTER >::CopyString(), mrpt::hwdrivers::CHokuyoURG::displaySensorInfo(), mrpt::comms::net::DNS_resolve_async(), KmTree::DoKMeansStep(), mrpt::vision::CFeatureExtraction::extractFeaturesSIFT(), mrpt::math::fft_real(), mrpt::system::CFileSystemWatcher::getChanges(), mrpt::serialization::CMessage::getContentAsString(), mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::getLandmarkMean(), mrpt::hwdrivers::CBoardSonars::getObservation(), mrpt::hwdrivers::CEnoseModular::getObservation(), mrpt::hwdrivers::CBoardENoses::getObservation(), mrpt::comms::net::http_get(), mrpt::comms::net::http_request(), impl_stringListAsString(), mrpt::maps::CRandomFieldGridMap2D::insertObservation_KF(), mrpt::maps::CRandomFieldGridMap2D::internal_clear(), mrpt::hwdrivers::CVelodyneScanner::internal_read_PCAP_packet(), mrpt::vision::pnp::p3p::jacobi_4x4(), mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::KF_aux_estimate_obs_Hx_jacobian(), mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::KF_aux_estimate_obs_Hy_jacobian(), mrpt::hwdrivers::CSickLaserSerial::LMS_sendMeasuringMode_cm_mm(), mrpt::obs::CObservation3DRangeScan::load(), mrpt::img::CImage::loadFromMemoryBuffer(), mrpt::img::CImage::loadFromStreamAsJPEG(), mrpt::gui::MRPTImage2wxImage(), mrpt::gui::CWindowDialogPlots::plot(), PointCopy(), mrpt::hwdrivers::CNTRIPClient::private_ntrip_thread(), mrpt::io::CMemoryStream::Read(), mrpt::serialization::CArchiveStreamBase< std::vector< uint8_t > >::read(), mrpt::serialization::CArchiveStreamBase< const std::vector< uint8_t > >::read(), mrpt::math::CMatrixDynamic< mrpt::math::TPoint3D_data< double > >::realloc(), mrpt::serialization::CArchive::receiveMessage(), mrpt::hwdrivers::CVelodyneScanner::receivePackets(), mrpt::maps::CRandomFieldGridMap2D::resize(), mrpt::maps::COccupancyGridMap2D::resizeGrid(), reverseBytesInPlace_2b(), reverseBytesInPlace_4b(), reverseBytesInPlace_8b(), RunKMeans(), RunKMeansOnce(), mrpt::bayes::CKalmanFilterCapable< 7, 3, 3, 7 >::runOneKalmanIteration(), KmTree::SeedKMeansPlusPlus(), mrpt::hwdrivers::CNTRIPClient::sendBackToServer(), mrpt::hwdrivers::CCANBusReader::sendCommandToCANReader(), mrpt::hwdrivers::CSickLaserSerial::SendCommandToSICK(), mrpt::serialization::CArchive::sendMessage(), mrpt::serialization::CMessage::serializeObject(), mrpt::serialization::CMessage::setContentFromString(), mrpt::hmtslam::CMHPropertiesValuesList::setElemental(), mrpt::math::detail::stub_kmeans(), mrpt::img::CCanvas::textOut(), mrpt::io::CMemoryStream::Write(), and mrpt::serialization::CArchiveStreamBase< std::vector< uint8_t > >::write().

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◆ MRPT_getCompilationDate()

string mrpt::system::MRPT_getCompilationDate ( )

Returns the MRPT source code timestamp, according to the Reproducible-Builds specifications: https://reproducible-builds.org/specs/source-date-epoch/.

Definition at line 154 of file os.cpp.

References mrpt::format(), and mrpt::system::now().

Referenced by CAboutBoxBase::information(), mrpt::apps::CGridMapAlignerApp::initialize(), mrpt::apps::KFSLAMApp::initialize(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::apps::RBPF_SLAM_App_Base::initialize(), mrpt::apps::ICP_SLAM_App_Base::initialize(), mrpt::apps::MonteCarloLocalization_Base::initialize(), CAboutBoxBase::MRPTBuildVersion(), and CAboutBox::OnInit().

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◆ MRPT_getVersion()

string mrpt::system::MRPT_getVersion ( )

Returns a string describing the MRPT version.

Definition at line 187 of file os.cpp.

Referenced by CAboutBoxBase::information(), mrpt::apps::CGridMapAlignerApp::initialize(), mrpt::apps::KFSLAMApp::initialize(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::apps::RBPF_SLAM_App_Base::initialize(), mrpt::apps::ICP_SLAM_App_Base::initialize(), mrpt::apps::MonteCarloLocalization_Base::initialize(), CAboutBoxBase::MRPTBuildVersion(), and CAboutBox::OnInit().

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◆ pause()

void mrpt::system::pause ( const std::string & msg = std::string("Press any key to continue...") )

noexcept

Shows the message "Press any key to continue" (or other custom message) to the current standard output and returns when a key is pressed.

Definition at line 430 of file os.cpp.

References mrpt::system::os::getch().

Referenced by mrpt::vision::build_linear_system(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::detectors::CFaceDetection::experimental_segmentFace(), mrpt::detectors::CFaceDetection::experimental_showMeasurements(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsAndEigenVects(), mrpt::detectors::CFaceDetection::experimental_viewFacePointsScanned(), mrpt::detectors::CFaceDetection::experimental_viewRegions(), mrpt::obs::CObservationGasSensors::CMOSmodel::get_GasDistribution_estimation(), mrpt::slam::CICP::ICP_Method_LM(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initClass(), mrpt::hmtslam::CHMTSLAM::LSLAM_process_message_from_TBI(), mrpt::obs::CObservationGasSensors::CMOSmodel::noise_filtering(), and mrpt::apps::CGridMapAlignerApp::run().

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◆ setConsoleColor()

void mrpt::system::setConsoleColor	(	TConsoleColor	color,
		bool	changeStdErr = `false`
	)

Changes the text color in the console for the text written from now on.

The parameter "color" can be any value in TConsoleColor.

By default the color of "cout" is changed, unless changeStdErr=true, in which case "cerr" is changed.

The parameter "color" can be:

0 : Normal text color
1 : Blue text color
2 : Green text color
4 : Red text color

Definition at line 482 of file os.cpp.

References mrpt::system::CONCOL_NORMAL, and mrpt::system::os::fprintf().

Referenced by mrpt::system::COutputLogger::TMsg::dumpToConsole().

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◆ sprintf()

int mrpt::system::os::sprintf	(	char *	buf,
		size_t	bufSize,
		const char *	format,
			...
	)

noexcept

An OS-independent version of sprintf (Notice the bufSize param, which may be ignored in some compilers)

See also: mrpt::format

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◆ strcat()

char* mrpt::system::os::strcat	(	char *	dest,
		size_t	destSize,
		const char *	source
	)

noexcept

An OS-independent version of strcat.

Returns: It will always return the "dest" pointer.

Referenced by mrpt::system::deleteFiles(), mrpt::hwdrivers::CTuMicos::transmit(), and mrpt::hwdrivers::CPtuDPerception::transmit().

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◆ strcpy()

char* mrpt::system::os::strcpy	(	char *	dest,
		size_t	destSize,
		const char *	source
	)

noexcept

An OS-independent version of strcpy.

Returns: It will always return the "dest" pointer.

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◆ timegm()

time_t mrpt::system::os::timegm ( struct tm * tm )

An OS-independent version of timegm (which is not present in all compilers): converts a time structure into an UTM time_t.

Definition at line 112 of file os.cpp.

References mrpt::system::os::sprintf(), and mrpt::system::os::strcpy().

Referenced by mrpt::system::buildTimestampFromParts().

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◆ vsnprintf()

int mrpt::system::os::vsnprintf	(	char *	buf,
		size_t	bufSize,
		const char *	format,
		va_list	args
	)

noexcept

An OS-independent version of vsnprintf (Notice the bufSize param, which may be ignored in some compilers)

Definition at line 230 of file os.cpp.

References mrpt::format(), and mrpt::system::os::vsprintf().

Referenced by mrpt::format_impl(), mrpt::system::COutputLogger::generateStringFromFormat(), and mrpt::io::CStream::printf().

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◆ vsprintf()

int int mrpt::system::os::vsprintf	(	char *	buf,
		size_t	bufSize,
		const char *	format,
		va_list	args
	)

noexcept

An OS-independent version of vsprintf (Notice the bufSize param, which may be ignored in some compilers)

Referenced by mrpt::system::os::vsnprintf().

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Detailed Description

Enumerations

Functions

Enumeration Type Documentation

◆ TConsoleColor

Function Documentation

◆ _strcmp()

◆ _strcmpi()

◆ _strncmp()

◆ _strnicmp()

◆ _strtoll()

◆ _strtoull()

◆ clearConsole()

◆ executeCommand()

◆ fclose()

◆ find_mrpt_shared_dir()

◆ fopen() [1/2]

◆ fopen() [2/2]

◆ fprintf()

◆ getch()

◆ getMRPTLicense()

◆ kbhit()

◆ launchProcess()

◆ memcpy()

◆ MRPT_getCompilationDate()

◆ MRPT_getVersion()

◆ pause()

◆ setConsoleColor()

◆ sprintf()

◆ strcat()

◆ strcpy()

◆ timegm()

◆ vsnprintf()

◆ vsprintf()