Detailed Description

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.

See also: mrpt::system::os

Namespaces
	os
	This namespace provides a OS-independent interface to low-level functions.

Classes
class	CAuxPSAPI_Loader
	This is an auxiliary class for mrpt::system::getMemoryUsage() under Windows. More...

class	CConsoleRedirector
	By creating an object of this class, all the output to std::cout (and std::cerr) will be redirected to a text file, and optionally also shown on the console. More...

class	CDirectoryExplorer
	This class allows the enumeration of the files/directories that exist into a given path. More...

class	CFileSystemWatcher
	This class subscribes to notifications of file system changes, thus it can be used to efficiently stay informed about changes in a directory tree. More...

class	CGenericMemoryPool
	A generic system for versatile memory pooling. More...

class	CObservable
	Inherit from this class for those objects capable of being observed by a CObserver class. More...

class	CObserver
	Inherit from this class to get notified about events from any CObservable object after subscribing to it. More...

class	COutputLogger
	Versatile class for consistent logging and management of output messages. More...

struct	COutputLoggerStreamWrapper
	For use in MRPT_LOG_DEBUG_STREAM(), etc. More...

class	CRateTimer
	A class for calling sleep() in a loop, such that the amount of sleep time will be computed to make the loop run at the desired rate (in Hz). More...

class	CTicTac
	A high-performance stopwatch, with typical resolution of nanoseconds. More...

class	CTimeLogger
	A versatile "profiler" that logs the time spent within each pair of calls to enter(X)-leave(X), among other stats. More...

struct	CTimeLoggerEntry
	A safe way to call enter() and leave() of a mrpt::system::CTimeLogger upon construction and destruction of this auxiliary object, making sure that leave() will be called upon exceptions, etc. More...

class	mrptEvent
	The basic event type for the observer-observable pattern in MRPT. More...

class	mrptEventOnDestroy
	An event sent by any CObservable object (automatically) just before being destroyed and telling its observers to unsubscribe. More...

struct	TCallStackBackTrace
	See: getCallStackBackTrace() More...

struct	TCallStackEntry
	Used in getCallStackBackTrace() More...

struct	TParameters
	For usage when passing a dynamic number of (numeric) arguments to a function, by name. More...

struct	TTimeParts
	The parts of a date/time (it's like the standard 'tm' but with fractions of seconds). More...

Typedefs
using	output_logger_callback_t = std::function< void(const std::string &msg, const mrpt::system::VerbosityLevel level, const std::string &loggerName, const mrpt::system::TTimeStamp timestamp)>
	Callback types for use with mrpt::system::COuputLogger. More...

using	TTimeStamp = uint64_t
	A system independent time type, it holds the the number of 100-nanosecond intervals since January 1, 1601 (UTC). More...

using	TParametersDouble = TParameters< double >
	See the generic template mrpt::system::TParameters. More...

using	TParametersString = TParameters< std::string >
	See the generic template mrpt::system::TParameters. More...

Enumerations
enum	VerbosityLevel { LVL_DEBUG = 0, LVL_INFO, LVL_WARN, LVL_ERROR, NUMBER_OF_VERBOSITY_LEVELS }
	Enumeration of available verbosity levels. More...

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

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

void	getCallStackBackTrace (TCallStackBackTrace &out_bt)
	Returns a list of strings representing the current call stack backtrace. More...

uint16_t	compute_CRC16 (const std::vector< uint8_t > &data, const uint16_t gen_pol=0x8005)
	Computes the CRC16 checksum of a block of data. More...

uint16_t	compute_CRC16 (const uint8_t *data, const size_t len, const uint16_t gen_pol=0x8005)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

uint32_t	compute_CRC32 (const std::vector< uint8_t > &data, const uint32_t gen_pol=0xEDB88320L)
	Computes the CRC32 checksum of a block of data. More...

uint32_t	compute_CRC32 (const uint8_t *data, const size_t len, const uint32_t gen_pol=0xEDB88320L)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

mrpt::system::TTimeStamp	buildTimestampFromParts (const mrpt::system::TTimeParts &p)
	Builds a timestamp from the parts (Parts are in UTC) More...

mrpt::system::TTimeStamp	buildTimestampFromPartsLocalTime (const mrpt::system::TTimeParts &p)
	Builds a timestamp from the parts (Parts are in local time) More...

void	timestampToParts (TTimeStamp t, TTimeParts &p, bool localTime=false)
	Gets the individual parts of a date/time (days, hours, minutes, seconds) - UTC time or local time. More...

mrpt::system::TTimeStamp	getCurrentTime ()
	Returns the current (UTC) system time. More...

mrpt::system::TTimeStamp	now ()
	A shortcut for system::getCurrentTime. More...

mrpt::system::TTimeStamp	getCurrentLocalTime ()
	Returns the current (local) time. More...

mrpt::system::TTimeStamp	time_tToTimestamp (const double t)
	Transform from standard "time_t" (actually a double number, it can contain fractions of seconds) to TTimeStamp. More...

mrpt::system::TTimeStamp	time_tToTimestamp (const time_t &t)
	Transform from standard "time_t" to TTimeStamp. More...

double	timestampTotime_t (const mrpt::system::TTimeStamp t)
	Transform from TTimeStamp to standard "time_t" (actually a double number, it can contain fractions of seconds). More...

double	timestampToDouble (const mrpt::system::TTimeStamp t)
	Transform from TTimeStamp to standard "time_t" (actually a double number, it can contain fractions of seconds). More...

double	timeDifference (const mrpt::system::TTimeStamp t_first, const mrpt::system::TTimeStamp t_later)
	Returns the time difference from t1 to t2 (positive if t2 is posterior to t1), in seconds. More...

double	now_double ()
	Returns the current time, as a `double` (fractional version of time_t) instead of a `TTimeStamp`. More...

mrpt::system::TTimeStamp	timestampAdd (const mrpt::system::TTimeStamp tim, const double num_seconds)
	Shifts a timestamp the given amount of seconds (>0: forwards in time, <0: backwards) More...

mrpt::system::TTimeStamp	secondsToTimestamp (const double nSeconds)
	Transform a time interval (in seconds) into TTimeStamp (e.g. More...

std::string	formatTimeInterval (const double timeSeconds)
	Returns a formated string with the given time difference (passed as the number of seconds), as a string [H]H:MM:SS.MILISECS. More...

std::string	dateTimeToString (const mrpt::system::TTimeStamp t)
	Convert a timestamp into this textual form (UTC time): YEAR/MONTH/DAY,HH:MM:SS.MMM. More...

std::string	dateTimeLocalToString (const mrpt::system::TTimeStamp t)
	Convert a timestamp into this textual form (in local time): YEAR/MONTH/DAY,HH:MM:SS.MMM. More...

std::string	dateToString (const mrpt::system::TTimeStamp t)
	Convert a timestamp into this textual form: YEAR/MONTH/DAY. More...

double	extractDayTimeFromTimestamp (const mrpt::system::TTimeStamp t)
	Returns the number of seconds ellapsed from midnight in the given timestamp. More...

std::string	timeToString (const mrpt::system::TTimeStamp t)
	Convert a timestamp into this textual form (UTC): HH:MM:SS.MMMMMM. More...

std::string	timeLocalToString (const mrpt::system::TTimeStamp t, unsigned int secondFractionDigits=6)
	Convert a timestamp into this textual form (in local time): HH:MM:SS.MMMMMM. More...

std::string	intervalFormat (const double seconds)
	This function implements time interval formatting: Given a time in seconds, it will return a string describing the interval with the most appropriate unit. More...

std::string	getTempFileName ()
	Returns the name of a proposed temporary file name. More...

std::string	getcwd ()
	Returns the current working directory More...

std::string	getShareMRPTDir ()
	Attempts to find the directory `[PREFIX/]share/mrpt/` and returns its absolute path, or empty string if not found. More...

bool	createDirectory (const std::string &dirName)
	Creates a directory. More...

bool	deleteFile (const std::string &fileName)
	Deletes a single file. More...

void	deleteFiles (const std::string &s)
	Delete one or more files, especified by the (optional) path and the file name (including '?' or '*') - Use forward slash ('/') for directories for compatibility between Windows and Linux, since they will be internally traslated into backward slashes ('\') if MRPT is compiled under Windows. More...

bool	renameFile (const std::string &oldFileName, const std::string &newFileName, std::string *error_msg=nullptr)
	Renames a file - If the target path is different and the filesystem allows it, it will be moved to the new location. More...

bool	deleteFilesInDirectory (const std::string &s, bool deleteDirectoryAsWell=false)
	Delete all the files in a given directory (nothing done if directory does not exists, or path is a file). More...

std::string	extractFileName (const std::string &filePath)
	Extract just the name (without extension) of a filename from a complete path plus name plus extension. More...

std::string	extractFileExtension (const std::string &filePath, bool ignore_gz=false)
	Extract the extension of a filename. More...

std::string	extractFileDirectory (const std::string &filePath)
	Extract the whole path (the directory) of a filename from a complete path plus name plus extension. More...

bool	fileExists (const std::string &fileName)
	Test if a given file (or directory) exists. More...

bool	directoryExists (const std::string &fileName)
	Test if a given directory exists (it fails if the given path refers to an existing file). More...

std::string	fileNameStripInvalidChars (const std::string &filename, const char replacement_to_invalid_chars='_')
	Replace invalid filename chars by underscores ('_') or any other user-given char. More...

std::string	fileNameChangeExtension (const std::string &filename, const std::string &newExtension)
	Replace the filename extension by another one. More...

uint64_t	getFileSize (const std::string &fileName)
	Return the size of the given file, or size_t(-1) if some error is found accessing that file. More...

time_t	getFileModificationTime (const std::string &filename)
	Return the time of the file last modification, or "0" if the file doesn't exist. More...

std::string	filePathSeparatorsToNative (const std::string &filePath)
	Windows: replace all '/'->'\' , in Linux/MacOS: replace all '\'->'/'. More...

bool	copyFile (const std::string &sourceFile, const std::string &targetFile, std::string *outErrStr=nullptr, bool copyAttribs=true)
	Copies file sourceFile to targetFile. More...

std::string	md5 (const std::string &str)
	Computes the md5 of a block of data. More...

std::string	md5 (const std::vector< uint8_t > &str)
	Computes the md5 of a block of data. More...

std::string	md5 (const unsigned char *data, const size_t len)
	Computes the md5 of a block of data. More...

unsigned long	getMemoryUsage ()
	Returns the memory occupied by this process, in bytes. More...

template<std::size_t alignment, typename T , typename = std::enable_if_t<std::is_pointer<T>::value>>
bool	is_aligned (T ptr)

void	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	clearConsole ()
	Clears the console window. More...

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

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

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

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

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

char *	strtok (char str, const char strDelimit, char **context) noexcept
	An OS-independent method for tokenizing a string. More...

template<class OUT_CONTAINER >
void	tokenize (const std::string &inString, const std::string &inDelimiters, OUT_CONTAINER &outTokens, bool skipBlankTokens=true) noexcept
	Tokenizes a string according to a set of delimiting characters. More...

std::string	trim (const std::string &str)
	Removes leading and trailing spaces. More...

std::string	upperCase (const std::string &str)
	Returns a upper-case version of a string. More...

std::string	lowerCase (const std::string &str)
	Returns an lower-case version of a string. More...

void	decodeUTF8 (const std::string &strUTF8, std::vector< uint16_t > &out_uniStr)
	Decodes a UTF-8 string into an UNICODE string. More...

void	encodeUTF8 (const std::vector< uint16_t > &input, std::string &output)
	Encodes a 2-bytes UNICODE string into a UTF-8 string. More...

void	encodeBase64 (const std::vector< uint8_t > &inputData, std::string &outString)
	Encode a sequence of bytes as a string in base-64. More...

bool	decodeBase64 (const std::string &inString, std::vector< uint8_t > &outData)
	Decode a base-64 string into the original sequence of bytes. More...

std::string	unitsFormat (const double val, int nDecimalDigits=2, bool middle_space=true)
	This function implements formatting with the appropriate SI metric unit prefix: 1e-12->'p', 1e-9->'n', 1e-6->'u', 1e-3->'m', 1->'', 1e3->'K', 1e6->'M', 1e9->'G', 1e12->'T'. More...

std::string	rightPad (const std::string &str, const size_t total_len, bool truncate_if_larger=false)
	Enlarge the string with spaces up to the given length. More...

bool	strCmp (const std::string &s1, const std::string &s2)
	Return true if the two strings are equal (case sensitive) More...

bool	strCmpI (const std::string &s1, const std::string &s2)
	Return true if the two strings are equal (case insensitive) More...

bool	strStarts (const std::string &str, const std::string &subStr)
	Return true if "str" starts with "subStr" (case sensitive) More...

bool	strStartsI (const std::string &str, const std::string &subStr)
	Return true if "str" starts with "subStr" (case insensitive) More...

template<typename T >
std::string	sprintf_container (const char *fmt, const T &V)
	Generates a string for a container in the format [A,B,C,...], and the fmt string for each vector element. More...

void	stringListAsString (const std::vector< std::string > &lst, std::string &out, const std::string &newline="\r\n")
	Convert a string list to one single string with new-lines. More...

void	stringListAsString (const std::deque< std::string > &lst, std::string &out, const std::string &newline="\r\n")
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

bool	vectorToTextFile (const std::vector< float > &vec, const std::string &fileName, bool append=false, bool byRows=false)
	A useful function for debugging, which saves a std::vector into a text file (compat. More...

bool	vectorToTextFile (const std::vector< double > &vec, const std::string &fileName, bool append=false, bool byRows=false)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

bool	vectorToTextFile (const std::vector< int > &vec, const std::string &fileName, bool append=false, bool byRows=false)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

bool	vectorToTextFile (const std::vector< size_t > &vec, const std::string &fileName, bool append=false, bool byRows=false)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

template<class EIGEN_MATRIX >
bool	vectorToTextFile (const EIGEN_MATRIX &vec, const std::string &fileName)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

bool	vectorFromTextFile (std::vector< double > &vec, const std::string &fileName, const bool byRows=false)
	Load a std::vector from a text file (compat. More...