Aria: ArUtil Class Reference


Public Types
	BIT0 = 0x1
	value of BIT0
	BIT1 = 0x2
	value of BIT1
	BIT10 = 0x400
	value of BIT10
	BIT11 = 0x800
	value of BIT11
	BIT12 = 0x1000
	value of BIT12
	BIT13 = 0x2000
	value of BIT13
	BIT14 = 0x4000
	value of BIT14
	BIT15 = 0x8000
	value of BIT15
	BIT2 = 0x4
	value of BIT2
	BIT3 = 0x8
	value of BIT3
	BIT4 = 0x10
	value of BIT4
	BIT5 = 0x20
	value of BIT5
	BIT6 = 0x40
	value of BIT6
	BIT7 = 0x80
	value of BIT7
	BIT8 = 0x100
	value of BIT8
	BIT9 = 0x200
	value of BIT9
enum	BITS { BIT0 = 0x1, BIT1 = 0x2, BIT2 = 0x4, BIT3 = 0x8, BIT4 = 0x10, BIT5 = 0x20, BIT6 = 0x40, BIT7 = 0x80, BIT8 = 0x100, BIT9 = 0x200, BIT10 = 0x400, BIT11 = 0x800, BIT12 = 0x1000, BIT13 = 0x2000, BIT14 = 0x4000, BIT15 = 0x8000 }
	Values for the bits from 0 to 16. More...
enum	REGKEY { REGKEY_CLASSES_ROOT, REGKEY_CURRENT_CONFIG, REGKEY_CURRENT_USER, REGKEY_LOCAL_MACHINE, REGKEY_USERS }
	REGKEY_CLASSES_ROOT
	use HKEY_CLASSES_ROOT
	REGKEY_CURRENT_CONFIG
	use HKEY_CURRENT_CONFIG
	REGKEY_CURRENT_USER
	use HKEY_CURRENT_USER
	REGKEY_LOCAL_MACHINE
	use HKEY_LOCAL_MACHIE
	REGKEY_USERS
	use HKEY_USERS
Static Public Member Functions
static void	addDirectories (char dest, size_t destLength, const char baseDir, const char *insideDir)
	Adds two directories, taking care of all slash issues.
static void	appendSlash (std::string &path)
	Appends a slash to the given string path if necessary.
static void	appendSlash (char *path, size_t pathLength)
	Appends a slash to a path if there is not one there already.
static double	atof (const char *nptr)
	Does an atof but if its inf or -inf deals with it fine.
static bool	changeFileTimestamp (const char *fileName, time_t timestamp)
	Sets the timestamp on the specified file.
static const char *	convertBool (int val)
	Converts an integer value into a string for true or false.
static int	creat (const char *pathname, mode_t mode, bool closeOnExec=true)
	Opens a file, defaulting it so that the file will close on exec.
template<class T>
static void	deleteSet (T begin, T end)
	Delete all members of a set. Does NOT empty the set.
template<class T>
static void	deleteSetPairs (T begin, T end)
	Delete all members of a set. Does NOT empty the set.
static void	escapeSpaces (char dest, const char src, size_t maxLen)
	Puts a \ before spaces in src, puts it into dest.
static bool	findFile (const char *fileName)
	OS-independent way of checking to see if a file exists and is readable.
static bool	findFirstStringInRegistry (const char key, const char value, char *str, int len)
	Returns a string from the Windows registry, searching each of the following registry root paths in order: REGKEY_CURRENT_USER, REGKEY_LOCAL_MACHINE.
static double	findMax (double first, double second)
	Returns the maximum of the two values.
static int	findMax (int first, int second)
	Returns the maximum of the two values.
static double	findMin (double first, double second)
	Returns the minimum of the two values.
static int	findMin (int first, int second)
	Returns the minimum of the two values.
static void	fixSlashes (std::string &path)
	Fixes the slash orientation in the given file path string for the current platform.
static void	fixSlashes (char *path, size_t pathLength)
	Fix the slash orientation in file path string for windows or linux.
static void	fixSlashesBackward (char *path, size_t pathLength)
	Fix the slash orientation in file path string to be all backward.
static void	fixSlashesForward (char *path, size_t pathLength)
	Fix the slash orientation in file path string to be all forward.
static bool	floatIsNormal (double f)
static FILE *	fopen (const char path, const char mode, bool closeOnExec=true)
	Opens a file, defaulting it so that the file will close on exec.
static void	functorPrintf (ArFunctor1< const char * > functor, char str,...)
	Function for doing a printf style call to a functor.
static bool	getDirectory (const char fileName, char result, size_t resultLen)
	Pulls the directory out of a file name.
static bool	getFileName (const char fileName, char result, size_t resultLen)
	Pulls the filename out of the file name.
static bool	getStringFromFile (const char fileName, char str, size_t strLen)
	Gets a string contained in an arbitrary file.
static bool	getStringFromRegistry (REGKEY root, const char key, const char value, char *str, int len)
	Returns a string from the Windows registry.
static unsigned int	getTime (void)
	Get the time in milliseconds.
static bool	isOnlyAlphaNumeric (const char *str)
	Returns true if this string is only alphanumeric, false otherwise.
static bool	isStrEmpty (const char *str)
	Returns true if the given string is null or of zero length, false otherwise.
static bool	localtime (struct tm *result)
static bool	localtime (const time_t timep, struct tm result)
static void	lower (char dest, const char src, size_t maxLen)
	Lowers a string from src into dest, make sure there's enough space.
static bool	matchCase (const char baseDir, const char fileName, char *result, size_t resultLen)
	this matches the case out of what file we want
static int	open (const char *pathname, int flags, mode_t mode, bool closeOnExec=true)
	Opens a file, defaulting it so that the file will close on exec.
static int	open (const char *pathname, int flags, bool closeOnExec=true)
	Opens a file, defaulting it so that the file will close on exec.
static FILE *	popen (const char command, const char type, bool closeOnExec=true)
	Opens a pipe, defaulting it so that the file will close on exec.
static void	putCurrentDayInString (char *s, size_t len)
static void	putCurrentHourInString (char *s, size_t len)
static void	putCurrentMinuteInString (char *s, size_t len)
static void	putCurrentMonthInString (char *s, size_t len)
static void	putCurrentSecondInString (char *s, size_t len)
static void	putCurrentYearInString (char *s, size_t len)
static void	setFileCloseOnExec (FILE *file, bool closeOnExec=true)
	Sets if the file descriptor will be closed on exec or not.
static void	setFileCloseOnExec (int fd, bool closeOnExec=true)
	Sets if the file descriptor will be closed on exec or not.
static long	sizeFile (std::string fileName)
	OS-independent way of finding the size of a file.
static long	sizeFile (const char *fileName)
	OS-independent way of finding the size of a file.
static void	sleep (unsigned int ms)
	Sleep for the given number of milliseconds.
static int	strcasecmp (const char str, const char str2)
	Finds out if two strings are equal (ignoring case).
static int	strcasecmp (const char *str, std::string str2)
	Finds out if two strings are equal (ignoring case).
static int	strcasecmp (std::string str, const char *str2)
	Finds out if two strings are equal (ignoring case).
static int	strcasecmp (std::string str, std::string str2)
	Finds out if two strings are equal (ignoring case).
static int	strcasequotecmp (const std::string &str1, const std::string &str2)
	Compares two strings (ignoring case and surrounding quotes).
static int	strcmp (const char str, const char str2)
	Finds out if two strings are equal.
static int	strcmp (const char *str, std::string str2)
	Finds out if two strings are equal.
static int	strcmp (std::string str, const char *str2)
	Finds out if two strings are equal.
static int	strcmp (std::string str, std::string str2)
	Finds out if two strings are equal.
static bool	stripQuotes (char dest, const char src, size_t destLen)
	Strips out the quotes in the src buffer into the dest buffer.
static void	writeToFile (const char str, FILE file)
	Function for doing a fprintf to a file (here to make a functor for).
Static Public Attributes
static const char *	COM1 = "/dev/ttyS0"
	First serial port device name (value depends on compilation platform).
static const char *	COM10 = "/dev/ttyS9"
	Tenth serial port device name (value depends on compilation platform).
static const char *	COM11 = "/dev/ttyS10"
	Eleventh serial port device name (value depends on compilation platform).
static const char *	COM12 = "/dev/ttyS11"
	Twelth serial port device name (value depends on compilation platform).
static const char *	COM13 = "/dev/ttyS12"
	Thirteenth serial port device name (value depends on compilation platform).
static const char *	COM14 = "/dev/ttyS13"
	Fourteenth serial port device name (value depends on compilation platform).
static const char *	COM15 = "/dev/ttyS14"
	Fifteenth serial port device name (value depends on compilation platform).
static const char *	COM16 = "/dev/ttyS15"
	Sixteenth serial port device name (value depends on compilation platform).
static const char *	COM2 = "/dev/ttyS1"
	Second serial port device name (value depends on compilation platform).
static const char *	COM3 = "/dev/ttyS2"
	Third serial port device name (value depends on compilation platform).
static const char *	COM4 = "/dev/ttyS3"
	Fourth serial port device name (value depends on compilation platform).
static const char *	COM5 = "/dev/ttyS4"
	Fifth serial port device name (value depends on compilation platform).
static const char *	COM6 = "/dev/ttyS5"
	Sixth serial port device name (value depends on compilation platform).
static const char *	COM7 = "/dev/ttyS6"
	Seventh serial port device name (value depends on compilation platform).
static const char *	COM8 = "/dev/ttyS7"
	Eighth serial port device name (value depends on compilation platform).
static const char *	COM9 = "/dev/ttyS8"
	Ninth serial port device name (value depends on compilation platform).
static const char *	FALSESTRING = "false"
	"false"
static const char *	TRUESTRING = "true"
	"true"
Static Protected Member Functions
static std::list< std::string >	splitFileName (const char *fileName)
	this splits up a file name (it isn't exported since it'd crash with dlls)

Member Enumeration Documentation

enum ArUtil::BITS

Values for the bits from 0 to 16.

Enumerator:

BIT0	value of BIT0
BIT1	value of BIT1
BIT2	value of BIT2
BIT3	value of BIT3
BIT4	value of BIT4
BIT5	value of BIT5
BIT6	value of BIT6
BIT7	value of BIT7
BIT8	value of BIT8
BIT9	value of BIT9
BIT10	value of BIT10
BIT11	value of BIT11
BIT12	value of BIT12
BIT13	value of BIT13
BIT14	value of BIT14
BIT15	value of BIT15

enum ArUtil::REGKEY

These are for passing into getStringFromRegistry

Enumerator:

REGKEY_CLASSES_ROOT	use HKEY_CLASSES_ROOT
REGKEY_CURRENT_CONFIG	use HKEY_CURRENT_CONFIG
REGKEY_CURRENT_USER	use HKEY_CURRENT_USER
REGKEY_LOCAL_MACHINE	use HKEY_LOCAL_MACHIE
REGKEY_USERS	use HKEY_USERS

Member Function Documentation

void ArUtil::addDirectories	(	char *	dest,
		size_t	destLength,
		const char *	baseDir,
		const char *	insideDir
	)			`[static]`

Adds two directories, taking care of all slash issues.

This function will take the 'baseDir' and put the 'insideDir' after it so that it winds up with 'baseDir/insideDir/'. It will take care of slashes, making sure there is one between them and one at the end, and the slashes will match what the operating system expects.

Parameters:

	dest	the place to put the result
	destLength	the length of the place to put the results
	baseDir	the directory to start with
	insideDir	the directory to place after the baseDir

void ArUtil::appendSlash	(	char *	path,
		size_t	pathLength
	)			`[static]`

Appends a slash to a path if there is not one there already.

Append a directory separator character to the given path string, depending on the platform. On Windows, a backslash ('\') is added. On other platforms, a forward slash ('/') is appended. If there is no more allocated space in the path string, no character will be appended.

Parameters:

	path	the path string to append a slash to
	pathLength	maximum length allocated for path string

template<class T>

static void ArUtil::deleteSet	(	T	begin,
		T	end
	)			`[inline, static]`

Delete all members of a set. Does NOT empty the set.

Assumes that T is an iterator that supports the operator*, operator!= and operator++. The return is assumed to be a pointer to a class that needs to be deleted.

template<class T>

static void ArUtil::deleteSetPairs	(	T	begin,
		T	end
	)			`[inline, static]`

Delete all members of a set. Does NOT empty the set.

Assumes that T is an iterator that supports the operator**, operator!= and operator++. The return is assumed to be a pair. The second value of the pair is assumed to be a pointer to a class that needs to be deleted.

void ArUtil::escapeSpaces	(	char *	dest,
		const char *	src,
		size_t	maxLen
	)			`[static]`

Puts a \ before spaces in src, puts it into dest.

This copies src into dest but puts a \ before any spaces in src, escaping them... its mostly for use with ArArgumentBuilder... make sure you have at least maxLen spaces in the arrays that you're passing as dest... this allocates no memory

bool ArUtil::findFile ( const char * fileName ) [static]

OS-independent way of checking to see if a file exists and is readable.

Returns:: true if file is found

Parameters:

fileName

name of the file to size

void ArUtil::fixSlashes ( std::string & path ) [static]

Fixes the slash orientation in the given file path string for the current platform.

Parameters:

path

the path in which to fix the orientation of the slashes

void ArUtil::fixSlashes	(	char *	path,
		size_t	pathLength
	)			`[static]`

Fix the slash orientation in file path string for windows or linux.

Parameters:

	path	the path in which to fix the orientation of the slashes
	pathLength	the maximum length of path

void ArUtil::fixSlashesBackward	(	char *	path,
		size_t	pathLength
	)			`[static]`

Fix the slash orientation in file path string to be all backward.

Parameters:

	path	the path in which to fix the orientation of the slashes
	pathLength	how long that path is at max

void ArUtil::fixSlashesForward	(	char *	path,
		size_t	pathLength
	)			`[static]`

Fix the slash orientation in file path string to be all forward.

Parameters:

	path	the path in which to fix the orientation of the slashes
	pathLength	how long that path is at max

bool ArUtil::floatIsNormal ( double f ) [static]

Return true if the value of f is not NaN and is not infinite (+/- INF)

void ArUtil::functorPrintf	(	ArFunctor1< const char * > *	functor,
		char *	str,
			...
	)			`[static]`

Function for doing a printf style call to a functor.

Java and Python Wrappers: Not available in Java or Python wrapper libraries.

bool ArUtil::getStringFromFile	(	const char *	fileName,
		char *	str,
		size_t	strLen
	)			`[static]`

Gets a string contained in an arbitrary file.

This function reads a string from a file. The file can contain spaces or tabs, but a '\r' or '\n' will be treated as the end of the string, and the string cannot have more characters than the value given by strLen. This is mostly for internal use with Linux to determine the Aria directory from a file in /etc, but will work with Linux or Windows.

Parameters:

	fileName	name of the file in which to look
	str	the string to copy the file contents into
	strLen	the maximum allocated length of str

bool ArUtil::getStringFromRegistry	(	REGKEY	root,
		const char *	key,
		const char *	value,
		char *	str,
		int	len
	)			`[static]`

Returns a string from the Windows registry.

Look up the given value under the given key, within the given registry root key.

Parameters:

	root	the root key to use, one of the REGKEY enum values
	key	the name of the key to find
	value	the value name in which to find the string
	str	where to put the string found, or if it could not be found, an empty (length() == 0) string
	len	the length of the allocated memory in str

Returns:: true if the string was found, false if it was not found or if there was a problem such as the string not being long enough

unsigned int ArUtil::getTime ( void ) [static]

Get the time in milliseconds.

Get the time in milliseconds, counting from some arbitrary point. This time is only valid within this run of the program.

Returns:: millisecond time

bool ArUtil::localtime ( struct tm * result ) [static]

Call ArUtil::localtime(const time_t*, struct tm *) with the current time obtained by calling time(NULL).

Returns:: false on error (e.g. invalid input), otherwise true.

bool ArUtil::localtime	(	const time_t *	timep,
		struct tm *	result
	)			`[static]`

Interface to native platform localtime() function. On Linux, this is equivalent to a call to localtime_r(timep, result) (which is threadsafe, including the returned pointer, since it uses a different time struct for each thread) On Windows, this is equivalent to a call to localtime(timep, result). In addition, a static mutex is used to make it threadsafe.

Parameters:

	timep	Pointer to current time (Unix time_t; seconds since epoch)
	result	The result of calling platform localtime function is copied into this struct, so it must have been allocated.

Returns:: false on error (e.g. invalid input), otherwise true.

Example:

  struct tm t;
  ArUtil::localtime(time(NULL), &t);
  ArLog::log("Current month is %d.\n", t.tm_mon);

void ArUtil::lower	(	char *	dest,
		const char *	src,
		size_t	maxLen
	)			`[static]`

Lowers a string from src into dest, make sure there's enough space.

This copies src into dest but makes it lower case make sure you have at least maxLen arrays that you're passing as dest... this allocates no memory

bool ArUtil::matchCase	(	const char *	baseDir,
		const char *	fileName,
		char *	result,
		size_t	resultLen
	)			`[static]`

this matches the case out of what file we want

Parameters:

	baseDir	the base directory to work from
	fileName	the fileName to squash the case from
	result	where to put the result
	resultLen	length of the result

Returns:: true if it could find the file, the result is in result, false if it couldn't find the file

void ArUtil::putCurrentDayInString	(	char *	s,
		size_t	len
	)			`[static]`

Put the current day (GMT) of the month in s (e.g. "20").

Parameters:

	s	String buffer (allocated) to write day into
	len	Size of s

void ArUtil::putCurrentHourInString	(	char *	s,
		size_t	len
	)			`[static]`

Put the current hour (GMT) in s (e.g. "13" for 1 o'clock PM).

Parameters:

	s	String buffer (allocated) to write hour into
	len	Size of s

void ArUtil::putCurrentMinuteInString	(	char *	s,
		size_t	len
	)			`[static]`

Put the current minute (GMT) in s (e.g. "05").

Parameters:

	s	String buffer (allocated) to write minutes into
	len	Size of s

void ArUtil::putCurrentMonthInString	(	char *	s,
		size_t	len
	)			`[static]`

Put the current month (GMT) in s (e.g. "09" if September).

Parameters:

	s	String buffer (allocated) to write month into
	len	Size of s

void ArUtil::putCurrentSecondInString	(	char *	s,
		size_t	len
	)			`[static]`

Put the current second (GMT) in s (e.g. "59").

Parameters:

	s	String buffer (allocated) to write seconds into
	len	Size of s

void ArUtil::putCurrentYearInString	(	char *	s,
		size_t	len
	)			`[static]`

Put the current year (GMT) in s (e.g. "2005").

Parameters:

	s	String buffer (allocated) to write year into
	len	Size of s

long ArUtil::sizeFile ( const char * fileName ) [static]

OS-independent way of finding the size of a file.

Returns:: size in bytes. -1 on error.

Parameters:

fileName

name of the file to size

void ArUtil::sleep ( unsigned int ms ) [static]

Sleep for the given number of milliseconds.

This sleeps for the given number of milliseconds... Note in linux it tries to sleep for 10 ms less than the amount given, which should wind up close to correct... Linux is broken in this regard and sleeps for too long... it sleeps for the ceiling of the current 10 ms range, then for an additional 10 ms... so: 11 to 20 ms sleeps for 30 ms... 21 to 30 ms sleeps for 40 ms... 31 to 40 ms sleeps for 50 ms... this continues on up to the values we care about of.. 81 to 90 ms sleeps for 100 ms... 91 to 100 ms sleeps for 110 ms... so we'll sleep for 10 ms less than we want to, which should put us about right... guh

Parameters:

the number of milliseconds to sleep for

Examples:: actsColorFollowingExample.cpp, armExample.cpp, demo.cpp, directMotionExample.cpp, gotoActionExample.cpp, gpsExample.cpp, moduleExample.cpp, netServerExample.cpp, robotConnectionCallbacks.cpp, simpleConnect.cpp, simpleMotionCommands.cpp, soundsQueueExample.cpp, and threadExample.cpp.

std::list< std::string > ArUtil::splitFileName ( const char * fileName ) [static, protected]

this splits up a file name (it isn't exported since it'd crash with dlls)

This function assumes the slashes are all heading the right way already.

int ArUtil::strcasecmp	(	const char *	str,
		const char *	str2
	)			`[static]`

Finds out if two strings are equal (ignoring case).

This compares two strings ignoring case, it returns an integer less than, equal to, or greater than zero if str is found, respectively, to be less than, to match, or be greater than str2.

Parameters:

	str	the string to compare
	str2	the second string to compare

Returns:: an integer less than, equal to, or greater than zero if str is found, respectively, to be less than, to match, or be greater than str2.

int ArUtil::strcasecmp	(	const char *	str,
		std::string	str2
	)			`[static]`

Finds out if two strings are equal (ignoring case).

This compares two strings ignoring case, it returns an integer less than, equal to, or greater than zero if str is found, respectively, to be less than, to match, or be greater than str2.

Parameters:

	str	the string to compare
	str2	the second string to compare

Returns:: an integer less than, equal to, or greater than zero if str is found, respectively, to be less than, to match, or be greater than str2.

int ArUtil::strcasecmp	(	std::string	str,
		const char *	str2
	)			`[static]`

Finds out if two strings are equal (ignoring case).

This compares two strings ignoring case, it returns an integer less than, equal to, or greater than zero if str is found, respectively, to be less than, to match, or be greater than str2.

Parameters:

	str	the string to compare
	str2	the second string to compare

Returns:: an integer less than, equal to, or greater than zero if str is found, respectively, to be less than, to match, or be greater than str2.

int ArUtil::strcasecmp	(	std::string	str,
		std::string	str2
	)			`[static]`

Finds out if two strings are equal (ignoring case).

This compares two strings ignoring case, it returns an integer less than, equal to, or greater than zero if str is found, respectively, to be less than, to match, or be greater than str2.

Parameters:

	str	the string to compare
	str2	the second string to compare

Returns:: an integer less than, equal to, or greater than zero if str is found, respectively, to be less than, to match, or be greater than str2.

int ArUtil::strcasequotecmp	(	const std::string &	str1,
		const std::string &	str2
	)			`[static]`

Compares two strings (ignoring case and surrounding quotes).

This helper method is primarily used to ignore surrounding quotes when comparing ArArgumentBuilder args.

Returns:: int set to 0 if the two strings are equivalent, a negative number if str1 is "less than" str2, and a postive number if it is "greater than".

int ArUtil::strcmp	(	const char *	str,
		const char *	str2
	)			`[static]`

Finds out if two strings are equal.

This compares two strings, it returns an integer less than, equal to, or greater than zero if str is found, respectively, to be less than, to match, or be greater than str2.

Parameters:

	str	the string to compare
	str2	the second string to compare

Returns:: an integer less than, equal to, or greater than zero if str is found, respectively, to be less than, to match, or be greater than str2.

int ArUtil::strcmp	(	const char *	str,
		std::string	str2
	)			`[static]`

Finds out if two strings are equal.

This compares two strings, it returns an integer less than, equal to, or greater than zero if str is found, respectively, to be less than, to match, or be greater than str2.

Parameters:

	str	the string to compare
	str2	the second string to compare

Returns:: an integer less than, equal to, or greater than zero if str is found, respectively, to be less than, to match, or be greater than str2.

int ArUtil::strcmp	(	std::string	str,
		const char *	str2
	)			`[static]`

Finds out if two strings are equal.

This compares two strings, it returns an integer less than, equal to, or greater than zero if str is found, respectively, to be less than, to match, or be greater than str2.

Parameters:

	str	the string to compare
	str2	the second string to compare

Returns:: an integer less than, equal to, or greater than zero if str is found, respectively, to be less than, to match, or be greater than str2.

int ArUtil::strcmp	(	std::string	str,
		std::string	str2
	)			`[static]`

Finds out if two strings are equal.

This compares two strings, it returns an integer less than, equal to, or greater than zero if str is found, respectively, to be less than, to match, or be greater than str2.

Parameters:

	str	the string to compare
	str2	the second string to compare

Returns:: an integer less than, equal to, or greater than zero if str is found, respectively, to be less than, to match, or be greater than str2.

ArUtil Class Reference

Detailed Description

Public Types

Static Public Member Functions

Static Public Attributes

Static Protected Member Functions

Member Enumeration Documentation

Member Function Documentation