utils.h
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00001 /*
00002         Aseba - an event-based framework for distributed robot control
00003         Copyright (C) 2007--2012:
00004                 Stephane Magnenat <stephane at magnenat dot net>
00005                 (http://stephane.magnenat.net)
00006                 and other contributors, see authors.txt for details
00007         
00008         This program is free software: you can redistribute it and/or modify
00009         it under the terms of the GNU Lesser General Public License as published
00010         by the Free Software Foundation, version 3 of the License.
00011         
00012         This program is distributed in the hope that it will be useful,
00013         but WITHOUT ANY WARRANTY; without even the implied warranty of
00014         MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015         GNU Lesser General Public License for more details.
00016         
00017         You should have received a copy of the GNU Lesser General Public License
00018         along with this program. If not, see <http://www.gnu.org/licenses/>.
00019 */
00020 
00021 #ifndef ASEBA_UTILS_H
00022 #define ASEBA_UTILS_H
00023 
00024 #include <iostream>
00025 #include <string>
00026 #include <cassert>
00027 #include <cstdlib>
00028 #include "../common/types.h"
00029 
00030 namespace Aseba
00031 {
00036         
00038         template<typename Derived, typename Base>
00039         static inline Derived polymorphic_downcast(Base base)
00040         {
00041                 Derived derived = dynamic_cast<Derived>(base);
00042                 if (!derived)
00043                         abort();
00044                 return derived;
00045         }
00046         
00048         template<typename Derived, typename Base>
00049         static inline Derived polymorphic_downcast_or_null(Base base)
00050         {
00051                 if (!base)
00052                         return 0;
00053                 Derived derived = dynamic_cast<Derived>(base);
00054                 if (!derived)
00055                         abort();
00056                 return derived;
00057         }
00058         
00060         struct UnifiedTime
00061         {
00063                 typedef long long unsigned Value;
00065                 Value value;
00066                 
00068                 UnifiedTime();
00070                 UnifiedTime(Value ms);
00072                 UnifiedTime(Value seconds, Value milliseconds);
00073                 
00075                 void operator +=(const UnifiedTime &that) { value += that.value; }
00077                 void operator -=(const UnifiedTime &that) { value -= that.value; }
00079                 void operator /=(const long long unsigned factor) {  assert(factor); value /= factor; }
00081                 void operator *=(const long long unsigned factor) { value *= factor; }
00083                 UnifiedTime operator +(const UnifiedTime &that) const { return UnifiedTime(value + that.value); }
00085                 UnifiedTime operator -(const UnifiedTime &that) const { return UnifiedTime(value - that.value); }
00087                 UnifiedTime operator /(const long long unsigned factor) const { assert(factor); return UnifiedTime(value / factor); }
00089                 UnifiedTime operator *(const long long unsigned factor) const { return UnifiedTime(value * factor); }
00091                 bool operator <(const UnifiedTime &that) const { return value < that.value; }
00092                 
00094                 void sleep() const;
00095                 
00097                 std::string toHumanReadableStringFromEpoch() const;
00098                 
00100                 std::string toRawTimeString() const;
00101                 
00103                 static UnifiedTime fromRawTimeString(const std::string& rawTimeString);
00104         };
00105         
00107         void dumpTime(std::ostream &stream, bool raw = false);
00108         
00110         std::string WStringToUTF8(const std::wstring& s);
00111         
00113         std::wstring UTF8ToWString(const std::string& s);
00114         
00116         uint16 crcXModem(const uint16 oldCrc, const std::wstring& s);
00117         
00119         uint16 crcXModem(const uint16 oldCrc, const uint16 v);
00120         
00123 };
00124 
00125 #endif


aseba
Author(s): Stéphane Magnenat
autogenerated on Sun Oct 5 2014 23:46:39