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Included UtiLite library directly in Rtabmap source (to simplify the installation)
git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@856 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
@@ -0,0 +1,375 @@
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/*
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* utilite is a cross-platform library with
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* useful utilities for fast and small developing.
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* Copyright (C) 2010 Mathieu Labbe
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*
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* utilite is free library: you can redistribute it and/or modify
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* it under the terms of the GNU Lesser General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* utilite is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "rtabmap/utilite/UDirectory.h"
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#ifdef WIN32
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#include <Windows.h>
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#include <direct.h>
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#include <algorithm>
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#include <conio.h>
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#else
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#include <dirent.h>
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#include <sys/stat.h>
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#include <sys/types.h>
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#include <sys/param.h>
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#include <sys/dir.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <string.h>
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#endif
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#include "rtabmap/utilite/UStl.h"
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#include "rtabmap/utilite/UFile.h"
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#include "rtabmap/utilite/UDirectory.h"
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#include "rtabmap/utilite/UConversion.h"
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#include "rtabmap/utilite/ULogger.h"
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#ifdef WIN32
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bool sortCallback(const std::string & a, const std::string & b)
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{
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return uStrNumCmp(a,b) < 0;
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}
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#elif __APPLE__
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int sortCallback(const void * aa, const void * bb)
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{
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const struct dirent ** a = (const struct dirent **)aa;
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const struct dirent ** b = (const struct dirent **)bb;
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return uStrNumCmp((*a)->d_name, (*b)->d_name);
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}
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#else
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int sortCallback( const dirent ** a, const dirent ** b)
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{
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return uStrNumCmp((*a)->d_name, (*b)->d_name);
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}
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#endif
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UDirectory::UDirectory(const std::string & path, const std::string & extensions)
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{
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extensions_ = uListToVector(uSplit(extensions, ' '));
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path_ = path;
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iFileName_ = fileNames_.begin();
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this->update();
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}
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UDirectory::UDirectory(const UDirectory & dir)
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{
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*this = dir;
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}
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UDirectory & UDirectory::operator=(const UDirectory & dir)
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{
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extensions_ = dir.extensions_;
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path_ = dir.path_;
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fileNames_ = dir.fileNames_;
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for(iFileName_=fileNames_.begin(); iFileName_!=fileNames_.end(); ++iFileName_)
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{
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if(iFileName_->compare(*dir.iFileName_) == 0)
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{
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break;
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}
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}
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return *this;
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}
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UDirectory::~UDirectory()
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{
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}
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void UDirectory::setPath(const std::string & path, const std::string & extensions)
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{
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extensions_ = uListToVector(uSplit(extensions, ' '));
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path_ = path;
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fileNames_.clear();
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iFileName_ = fileNames_.begin();
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this->update();
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}
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void UDirectory::update()
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{
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if(exists(path_))
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{
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std::string lastName;
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bool endOfDir = false;
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if(iFileName_ != fileNames_.end())
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{
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//Record the last file name
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lastName = *iFileName_;
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}
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else if(fileNames_.size())
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{
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lastName = *fileNames_.rbegin();
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endOfDir = true;
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}
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fileNames_.clear();
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#ifdef WIN32
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WIN32_FIND_DATA fileInformation;
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#ifdef UNICODE
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wchar_t * pathAll = createWCharFromChar((path_+"\\*").c_str());
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HANDLE hFile = ::FindFirstFile(pathAll, &fileInformation);
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delete [] pathAll;
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#else
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HANDLE hFile = ::FindFirstFile((path_+"\\*").c_str(), &fileInformation);
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#endif
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if(hFile != INVALID_HANDLE_VALUE)
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{
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do
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{
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#ifdef UNICODE
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char * fileName = createCharFromWChar(fileInformation.cFileName);
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fileNames_.push_back(fileName);
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delete [] fileName;
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#else
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fileNames_.push_back(fileInformation.cFileName);
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#endif
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} while(::FindNextFile(hFile, &fileInformation) == TRUE);
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::FindClose(hFile);
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std::vector<std::string> vFileNames = uListToVector(fileNames_);
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std::sort(vFileNames.begin(), vFileNames.end(), sortCallback);
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fileNames_ = uVectorToList(vFileNames);
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}
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#else
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int nameListSize;
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struct dirent ** nameList = 0;
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nameListSize = scandir(path_.c_str(), &nameList, 0, sortCallback);
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if(nameList && nameListSize>0)
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{
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for (int i=0;i<nameListSize;++i)
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{
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fileNames_.push_back(nameList[i]->d_name);
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free(nameList[i]);
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}
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free(nameList);
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}
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#endif
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//filter extensions...
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std::list<std::string>::iterator iter = fileNames_.begin();
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bool valid;
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while(iter!=fileNames_.end())
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{
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valid = false;
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if(extensions_.size() == 0 &&
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iter->compare(".") != 0 &&
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iter->compare("..") != 0)
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{
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valid = true;
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}
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for(unsigned int i=0; i<extensions_.size(); ++i)
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{
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if(UFile::getExtension(*iter).compare(extensions_[i]) == 0)
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{
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valid = true;
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break;
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}
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}
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if(!valid)
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{
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iter = fileNames_.erase(iter);
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}
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else
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{
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++iter;
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}
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}
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iFileName_ = fileNames_.begin();
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if(!lastName.empty())
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{
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bool found = false;
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for(std::list<std::string>::iterator iter=fileNames_.begin(); iter!=fileNames_.end(); ++iter)
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{
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if(lastName.compare(*iter) == 0)
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{
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found = true;
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iFileName_ = iter;
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break;
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}
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}
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if(endOfDir && found)
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{
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++iFileName_;
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}
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else if(endOfDir && fileNames_.size())
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{
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iFileName_ = --fileNames_.end();
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}
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}
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}
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}
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bool UDirectory::isValid()
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{
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return exists(path_);
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}
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std::string UDirectory::getNextFileName()
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{
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std::string fileName;
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if(iFileName_ != fileNames_.end())
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{
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fileName = *iFileName_;
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++iFileName_;
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}
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return fileName;
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}
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void UDirectory::rewind()
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{
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iFileName_ = fileNames_.begin();
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}
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bool UDirectory::exists(const std::string & dirPath)
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{
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bool r = false;
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#if WIN32
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#ifdef UNICODE
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wchar_t * wDirPath = createWCharFromChar(dirPath.c_str());
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DWORD dwAttrib = GetFileAttributes(wDirPath);
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delete [] wDirPath;
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#else
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DWORD dwAttrib = GetFileAttributes(dirPath.c_str());
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#endif
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r = (dwAttrib != INVALID_FILE_ATTRIBUTES && (dwAttrib & FILE_ATTRIBUTE_DIRECTORY));
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#else
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DIR *dp;
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if((dp = opendir(dirPath.c_str())) != NULL)
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{
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r = true;
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closedir(dp);
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}
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#endif
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return r;
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}
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// return the directory path of the file
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std::string UDirectory::getDir(const std::string & filePath)
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{
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std::string dir = filePath;
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int i=dir.size()-1;
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for(; i>=0; --i)
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{
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if(dir[i] == '/' || dir[i] == '\\')
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{
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//remove separators...
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dir[i] = 0;
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--i;
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while(i>=0 && (dir[i] == '/' || dir[i] == '\\'))
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{
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dir[i] = 0;
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--i;
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}
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break;
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}
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else
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{
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dir[i] = 0;
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}
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}
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if(i<0)
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{
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dir = ".";
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}
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else
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{
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dir.resize(i+1);
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}
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return dir;
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}
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std::string UDirectory::currentDir(bool trailingSeparator)
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{
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std::string dir;
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char * buffer;
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#ifdef WIN32
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buffer = _getcwd(NULL, 0);
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#else
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buffer = getcwd(NULL, MAXPATHLEN);
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#endif
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if( buffer != NULL )
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{
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dir = buffer;
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free(buffer);
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if(trailingSeparator)
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{
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dir += separator();
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}
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}
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return dir;
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}
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bool UDirectory::makeDir(const std::string & dirPath)
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{
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int status;
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#if WIN32
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status = _mkdir(dirPath.c_str());
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#else
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status = mkdir(dirPath.c_str(), S_IRWXU | S_IRWXG | S_IROTH | S_IXOTH);
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#endif
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return status==0;
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}
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bool UDirectory::removeDir(const std::string & dirPath)
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{
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int status;
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#if WIN32
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status = _rmdir(dirPath.c_str());
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#else
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status = rmdir(dirPath.c_str());
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#endif
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return status==0;
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}
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std::string UDirectory::homeDir()
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{
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std::string path;
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#if WIN32
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#ifdef UNICODE
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wchar_t wProfilePath[250];
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ExpandEnvironmentStrings(L"%userprofile%",wProfilePath,250);
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char * profilePath = createCharFromWChar(wProfilePath);
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path = profilePath;
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delete [] profilePath;
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#else
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char profilePath[250];
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ExpandEnvironmentStrings("%userprofile%",profilePath,250);
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path = profilePath;
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#endif
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#else
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path = getenv("HOME");
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#endif
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return path;
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}
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std::string UDirectory::separator()
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{
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#ifdef WIN32
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return "\\";
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#else
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return "/";
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#endif
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}
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