IOFunctions.cpp

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/******************************************************************************
 * 
 * Copyright (c) 2012 
 * 
 * SCHUNK GmbH & Co. KG
 *  
 * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 
 * 
 * Project name: Drivers for "Amtec M5 Protocol" Electronics V4
 *                                                                        
 * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 
 * 
 * Email:robotics@schunk.com
 * 
 * ToDo: 
 * 
 * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 
 * 
 * Redistribution and use in source and binary forms, with or without 
 * modification, are permitted provided that the following conditions are met: 
 * 
 *  * Redistributions of source code must retain the above copyright 
 *    notice, this list of conditions and the following disclaimer. 
 *  * Redistributions in binary form must reproduce the above copyright 
 *    notice, this list of conditions and the following disclaimer in the 
 *    documentation and/or other materials provided with the distribution. 
 *  * Neither the name of SCHUNK GmbH & Co. KG nor the names of its 
 *    contributors may be used to endorse or promote products derived from 
 *    this software without specific prior written permission. 
 * 
 * This program is free software: you can redistribute it and/or modify 
 * it under the terms of the GNU Lesser General Public License LGPL as 
 * published by the Free Software Foundation, either version 3 of the 
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 * This program is distributed in the hope that it will be useful, 
 * but WITHOUT ANY WARRANTY; without even the implied warranty of 
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the 
 * GNU Lesser General Public License LGPL for more details. 
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 ******************************************************************************/


#include "IOFunctions.h"
#include <string.h>

int util_ignore(int iSize, char cDelimiter, FILE* hFileHandle)
{
        char cChar;
        for(int i = 0; i < iSize; i++)
        {
                cChar = fgetc(hFileHandle);
                if(cChar == EOF)
                        return -1;
                if(cChar == cDelimiter)
                        return 0;
        }
        return 0;
}

int util_skipWhiteSpace(FILE* hFileHandle)
{
        char cChar;
        do
        {
                cChar = fgetc(hFileHandle);
                if(cChar == EOF)
                        return -1;
                if(cChar != ' ' && cChar != '"' && cChar != '\t')
                {
                        ungetc(cChar, hFileHandle);
                        return 0;
                }
        }while(1);
        return 0;
}

int util_getStringCutWhiteSpace(char* acReturnString, int iSize, FILE* hFileHandle)
{
        char cChar;
        fgets(acReturnString, iSize, hFileHandle);
        for(int i = 0; i < iSize; i++)
        {
                cChar = acReturnString[i];
                if(cChar == ' ' || cChar == '"' || cChar == '#' || cChar == ';' || cChar == '\t' || cChar == '\r' || cChar == '\n' || cChar == '\0')
                {
                        acReturnString[i] = '\0';
                        break;
                }
        }
        return 0;
}

int util_searchSection(const char* acSectionName, FILE* hFileHandle)
{
        int iRetVal = 1;
        int iSectionLength;
        char cChar;
        char acBuffer[512];
        iSectionLength = strlen(acSectionName);
        do
        {
                cChar = fgetc(hFileHandle);
                if(cChar == EOF)                                                // check for end of file
                        iRetVal = -1;
                else if(cChar == '#' || cChar == ';')   // check for comment
                {
                        iRetVal = util_ignore(0x7FFF,'\n', hFileHandle);                // skip all characters up to '\n'
                        if(iRetVal == 0)
                                iRetVal = 1;
                }
                else if(cChar == '[')                                   // no comment so parse it
                {
                        fgets(acBuffer, iSectionLength+1, hFileHandle);

                        if(strncmp(acBuffer, acSectionName, iSectionLength) == 0)
                        {
                                cChar = fgetc(hFileHandle);
                                if(cChar == ']')
                                        iRetVal = util_ignore(0x7FFF,'\n', hFileHandle);        // skip all characters up to '\n'
                                else
                                        iRetVal = -1;
                        }
                }
        }
        while(iRetVal > 0);
        return iRetVal;
}

int util_searchKey(const char* acKeyName, FILE* hFileHandle)
{
        int iRetVal = 1;
        int iKeyLength, iBufferLength;
        char cChar;
        char acBuffer[512];
        iKeyLength = strlen(acKeyName);
        do
        {
                cChar = fgetc(hFileHandle);
                if(cChar == EOF)                                                // check for end of file
                        iRetVal = -1;
                else if(cChar == '[')                                   // check for new section
                {
                        ungetc(cChar, hFileHandle);
                        iRetVal = -1;
                }
                else if(cChar == '#' || cChar == ';')   // check for comment
                {
                        iRetVal = util_ignore(0x7FFF,'\n', hFileHandle);                // skip all characters up to '\n'
                        if(iRetVal == 0)
                                iRetVal = 1;
                }
                else if(cChar != ' ' && cChar != '\t' && cChar != '\r' && cChar != '\n')        // no comment or whitespace so parse it
                {
                        acBuffer[0] = cChar;
                        if (iKeyLength > 1)
                                fgets(acBuffer + 1, iKeyLength, hFileHandle);

                        iBufferLength = strlen(acBuffer);
                        if(iBufferLength > iKeyLength || (iBufferLength == iKeyLength && acBuffer[iBufferLength - 1] != '\n'))
                        {
                                if(strncmp(acBuffer, acKeyName, iKeyLength) == 0)
                                {
                                        iRetVal = util_skipWhiteSpace(hFileHandle);
                                        cChar = fgetc(hFileHandle);
                                        if(cChar == '=')                         // check for delimiter
                                                iRetVal = util_skipWhiteSpace(hFileHandle);
                                        else
                                                return -1;
                                }
                                else
                                {
                                        iRetVal = util_ignore(0x7FFF,'\n', hFileHandle);                // skip all characters up to '\n'
                                        if(iRetVal == 0)
                                                iRetVal = 1;
                                }
                        }
                }
        }
        while(iRetVal > 0);
        return iRetVal;
}

int util_searchString(const char* acSectionName, const char* acKeyName, const char* acDefaultString, char* acReturnString, int iSize, const char* acFileName)
{
        FILE* hFileHandle = fopen( acFileName, "r" );
        if(hFileHandle <= 0)
        {
                strncpy(acReturnString, acDefaultString, iSize);
                return -1;
        }

        if(util_searchSection(acSectionName, hFileHandle) < 0)
        {
                strncpy(acReturnString, acDefaultString, iSize);
                fclose(hFileHandle);
                return 0;
        }
        if(util_searchKey(acKeyName, hFileHandle) < 0)
        {
                strncpy(acReturnString, acDefaultString, iSize);
                fclose(hFileHandle);
                return 0;
        }
        util_getStringCutWhiteSpace(acReturnString, iSize, hFileHandle);
        fclose(hFileHandle);
        return strlen(acReturnString);
}

int util_setSection(const char* acSectionName, FILE* hFileHandle)
{
        int iRetVal = fseek(hFileHandle,0,SEEK_CUR);
        if(iRetVal < 0)
        {
//              std::cout << "Section set error" << std::endl;
                return -1;
        }
        iRetVal = fprintf(hFileHandle, "\n\n[%s]", acSectionName);
        if(iRetVal == strlen(acSectionName) + 4)
        {
//              std::cout << "Section set" << std::endl;
                fseek(hFileHandle,0,SEEK_CUR);
                return 0;
        }
        else
        {
//              std::cout << "Section set error" << std::endl;
                return -1;
        }
}

int util_setKey(const char* acKeyName, FILE* hFileHandle)
{
        int iRetVal = fseek(hFileHandle,0,SEEK_CUR);
        if(iRetVal < 0)
        {
//              std::cout << "Section set error" << std::endl;
                return -1;
        }
        iRetVal = fprintf(hFileHandle, "\n%s = ", acKeyName);
        if(iRetVal == strlen(acKeyName) + 4)
        {
//              std::cout << "Key set" << std::endl;
                fseek(hFileHandle,0,SEEK_CUR);
                return 0;
        }
        else
        {
//              std::cout << "Key set error" << std::endl;
                return -1;
        }
}

int util_setString(const char* acSectionName, const char* acKeyName, const char* acString, const char* acFileName)
{
        int iRetVal = 0;
        int iLength = 0;
        char* acBuffer = NULL;
        FILE* hFileHandle = fopen( acFileName, "r+" );
        if(hFileHandle <= 0)
        {
                hFileHandle = fopen( acFileName, "w+" );
                if(hFileHandle <= 0)
                {
//                      std::cout << "File open error" << std::endl;
                        return -1;
                }
        }
//      std::cout << "File open" << std::endl;
        if(util_searchSection(acSectionName, hFileHandle) < 0)
        {
//              std::cout << "Section not found" << std::endl;
                iRetVal = util_setSection(acSectionName, hFileHandle);
                if(iRetVal < 0)
                {
                        fclose(hFileHandle);
                        return -1;
                }
        }
//      else
//              std::cout << "Section found" << std::endl;
        if(util_searchKey(acKeyName, hFileHandle) < 0)
        {
//              std::cout << "Key not found" << std::endl;
                fpos_t fposRest;
                iRetVal = fgetpos(hFileHandle, &fposRest);
                if(iRetVal < 0)
                {
//                      std::cout << "get Rest pos error" << std::endl;
                        fclose(hFileHandle);
                        return -1;
                }
                char cChar;
                do
                {
#if defined(__LINUX__)
                        fposRest.__pos--;
#else
                        fposRest--;
#endif
                        iRetVal = fsetpos(hFileHandle, &fposRest);
                        if(iRetVal < 0)
                        {
//                              std::cout << "set Rest pos error" << std::endl;
                                fclose(hFileHandle);
                                return -1;
                        }
                        cChar = fgetc(hFileHandle);
                        if(cChar != '\n')
                        {
#if defined(__LINUX__)
                                fposRest.__pos++;
#else
                                fposRest++;
#endif
                                iRetVal = fsetpos(hFileHandle, &fposRest);
                                if(iRetVal < 0)
                                {
//                                      std::cout << "set Rest pos error" << std::endl;
                                        fclose(hFileHandle);
                                        return -1;
                                }
                                break;
                        }
                }while(1);

                do
                {
                        cChar = fgetc(hFileHandle);
                        if(cChar == EOF)
                                break;
                }while(1);
                fpos_t fposEnd;
                iRetVal = fgetpos(hFileHandle, &fposEnd);
                if(iRetVal < 0)
                {
//                      std::cout << "get End pos error" << std::endl;
                        fclose(hFileHandle);
                        return -1;
                }
#if defined(__LINUX__)
                iLength = fposEnd.__pos - fposRest.__pos;
#else
                iLength = fposEnd - fposRest;
#endif
                if(iLength > 0)
                {
                        acBuffer = new char[iLength];
        //              std::cout << "Rest length: " << iLength << std::endl;

                        iRetVal = fsetpos(hFileHandle, &fposRest);
                        if(iRetVal < 0)
                        {
        //                      std::cout << "set Rest pos error" << std::endl;
                                fclose(hFileHandle);
                                if(acBuffer != NULL)
                                        delete[] acBuffer;
                                return -1;
                        }
                                        
                        iLength = fread(acBuffer, sizeof(char), iLength, hFileHandle);
                        if(iLength < 0)
                        {
        //                      std::cout << "read Rest error" << std::endl;
                                fclose(hFileHandle);
                                if(acBuffer != NULL)
                                        delete[] acBuffer;
                                return -1;
                        }
                        acBuffer[iLength] = '\0';
                }
//              std::cout << "read Rest:" << acBuffer << std::endl;
                iRetVal = fsetpos(hFileHandle, &fposRest);
                if(iRetVal < 0)
                {
//                      std::cout << "set String pos error" << std::endl;
                        fclose(hFileHandle);
                        if(acBuffer != NULL)
                                delete[] acBuffer;
                        return -1;
                }
                iRetVal = util_setKey(acKeyName, hFileHandle);
                if(iRetVal < 0)
                {
                        fclose(hFileHandle);
                        if(acBuffer != NULL)
                                delete[] acBuffer;
                        return -1;
                }
                iRetVal = fprintf(hFileHandle, "%s", acString);
                if(iRetVal != strlen(acString))
                {
//                      std::cout << "String set error" << std::endl;
                        fclose(hFileHandle);
                        if(acBuffer != NULL)
                                delete[] acBuffer;
                        return -1;
                }
//              else
//                      std::cout << "String set" << std::endl;
                if(iLength > 0)
                {
                        iLength = fwrite(acBuffer, sizeof(char), iLength, hFileHandle);
                        if(iLength != iLength)
                        {
        //                      std::cout << "write Rest error" << std::endl;
                                fclose(hFileHandle);
                                if(acBuffer != NULL)
                                        delete[] acBuffer;
                                return -1;
                        }
                        if(acBuffer != NULL)
                                delete[] acBuffer;
                }
        }
        else
        {       
//              std::cout << "Key found" << std::endl;
                fpos_t fposString;
                iRetVal = fgetpos(hFileHandle, &fposString);
                if(iRetVal < 0)
                {
//                      std::cout << "get String pos error" << std::endl;
                        fclose(hFileHandle);
                        return -1;
                }
                
                char cChar;
                int iErase = 0;
                do
                {
                        cChar = fgetc(hFileHandle);
                        if(cChar == EOF || cChar == '\n' || cChar == ';' || cChar == '#')
                        {
                                ungetc(cChar, hFileHandle);
                                break;
                        }
                        iErase++;
                }while(1);
                fpos_t fposRest;
                iRetVal = fgetpos(hFileHandle, &fposRest);
                if(iRetVal < 0)
                {
//                      std::cout << "get Rest pos error" << std::endl;
                        fclose(hFileHandle);
                        return -1;
                }

                do
                {
                        cChar = fgetc(hFileHandle);
                        if(cChar == EOF)
                                break;
                }while(1);
                fpos_t fposEnd;
                iRetVal = fgetpos(hFileHandle, &fposEnd);
                if(iRetVal < 0)
                {
                        std::cout << "get End pos error" << std::endl;
                        fclose(hFileHandle);
                        return -1;
                }
#if defined(__LINUX__)
                iLength = fposEnd.__pos - fposRest.__pos;
#else
                iLength = fposEnd - fposRest;
#endif
                if(iLength > 0)
                {
                        acBuffer = new char[iLength];
        //              std::cout << "Rest length: " << iLength << std::endl;

                        iRetVal = fsetpos(hFileHandle, &fposRest);
                        if(iRetVal < 0)
                        {
        //                      std::cout << "set Rest pos error" << std::endl;
                                fclose(hFileHandle);
                                if(acBuffer != NULL)
                                        delete[] acBuffer;
                                return -1;
                        }
                                        
                        iLength = fread(acBuffer, sizeof(char), iLength, hFileHandle);
                        if(iLength < 0)
                        {
        //                      std::cout << "read Rest error" << std::endl;
                                fclose(hFileHandle);
                                if(acBuffer != NULL)
                                        delete[] acBuffer;
                                return -1;
                        }
                        acBuffer[iLength] = '\0';
                }
//              std::cout << "read Rest:" << acBuffer << std::endl;
                iRetVal = fsetpos(hFileHandle, &fposString);
                if(iRetVal < 0)
                {
//                      std::cout << "set String pos error" << std::endl;
                        fclose(hFileHandle);
                        if(acBuffer != NULL)
                                delete[] acBuffer;
                        return -1;
                }

                iRetVal = fprintf(hFileHandle, "%s ", acString);
                iErase -= strlen(acString) + 1;
                if(iRetVal != strlen(acString) + 1)
                {
//                      std::cout << "String set error" << std::endl;
                        fclose(hFileHandle);
                        if(acBuffer != NULL)
                                delete[] acBuffer;
                        return -1;
                }
//              else
//                      std::cout << "String set" << std::endl;

                if(iLength > 0)
                {
                        iLength = fwrite(acBuffer, sizeof(char), iLength, hFileHandle);
                        if(iLength != iLength)
                        {
        //                      std::cout << "write Rest error" << std::endl;
                                fclose(hFileHandle);
                                if(acBuffer != NULL)
                                        delete[] acBuffer;
                                return -1;
                        }
        //              std::cout << "erase " << iErase << std::endl;
                        for(int i = 0; i < iErase; i++)
                        {
                                cChar = fputc('\0', hFileHandle);
                                if(cChar == EOF)
                                        break;
                        }
                        if(acBuffer != NULL)
                                delete[] acBuffer;
                }
        }
        fclose(hFileHandle);
        return 0;
}

// -------------------------------------------------------------------------- ;

//\fdd{ This function helps to read input formatted as keyword (or phrase),
//              number (optional), delimiter, followed by an argument, which will be
//              read by some other function. Leading white space and comments
//              (everything from a '#' or ';' sign until the end of that line) will be
//              skipped. The next std::string (including any white space) will be compared
//              against the keyword. If this does not match the function returns
//              imediately and indicates the error. If the number is positive
//              (including zero) the next std::string after skipping white space will be
//              read in as an integral number. If the numbers are not equal the
//              function returns and indicates the error. Otherwise white space will
//              be skipped and the next character will be compared with the delimiter.
//              In case of mismatch the function returns an error code, otherwise it
//              skips white space a last time. Now the stream should be positioned at
//              the argument, which could be read by an adequate read function. }
//\xmp{ The following examples could be processed by this function:
//              \begin{itemize}
//                      \item   \verb|count of events = 5|
//                      \item   \verb|item 001: first item|
//                      \item   \verb|position = [ 12, 34 ]|
//                      \item   \verb|circle:|\newline
//                                      \verb|center = [ 43, 21]|\newline
//                                      \verb|radius = 7|
//              \end{itemize}
//              In the last example \texttt{circle} is the keyword, no number is used
//              and the delimiter is a colon. Therefore the corresponding call to this
//              function would look as follows:\newline
//              \begin{quote}
//                      \verb|error = posArgForKey(inL, "circle", -1, ':');|\newline
//              \end{quote}
//              This function will check for "circle" and the colon. Then it positions
//              the stream just ahead of the std::string "center". Given a class
//              \texttt{circle} with a method read able to process this format, we
//              could just call:\newline
//              \begin{quote}
//                      \verb|circle::read(inL);|\newline
//              \end{quote}
//              in order to read the circle from the input stream. }
//\arg{ in:             a reference to an input stream }
//\arg{ key:    the keyword (or phrase) to look for }
//\arg{ number: an optional number following the keyword }
//\arg{ delim:  the sign preceeding the argument for the given keyword }
//\ret{ The constant \texttt{OKAY} indicates successful operation. In case of
//              an error the following cases are distinguished:
//              \begin{itemize}
//                      \item   \texttt{NO\_KEY} the keyword did not match
//                      \item   \texttt{KEY\_BUT\_WRONG\_NUMBER} the number did not match
//                      \item   \texttt{KEY\_BUT\_NO\_EQUAL} the delimiter did not match
//                      \item   \texttt{FOUND\_EOF} EOF reached
//              \end{itemize}. }

#ifdef WITHSTREAMS
int util_posArgForKey(
                std::istream&           in,
                const char*             key,
                int                             number,
                char                    delim)
{
        static char buf[BUFFER_LENGTH];
           char cL;
           int  count;
        
        while( !in.eof() )
        {
                in >> cL;

                if(cL == '#' || cL == ';')      // check for comment
                        in.ignore(0x7FFF,'\n'); // skip all characters up to '\n'
                else                                            // no comment so parse it
                {
                        buf[0] = cL;

                        if (strlen(key) > 1)  // Workaround for bug in WATCOM's std::istream::get
                                in.get(buf+1, strlen(key), '\n');

                        if(strncmp(buf, key, strlen(key)) == 0)
                        {
                                if (number >= 0)
                                {
                                        in >> count;
                                        
                                        if (count != number)
                                                return KEY_BUT_WRONG_NUMBER;
                                };
                                
                                in >> std::ws;         // skip whitespace
                                in >> cL;
                                if(cL == delim)   // check for delimiter
                                {
                                        // skip whitespace
                                        
                                        in >> std::ws;
                                        
                                        // the argument should follow now
                                        
                                        return OKAY;
                                }
                                else
                                        return KEY_BUT_NO_EQUAL;
                        }       
                        else
                                return NO_KEY;
                };
        };

        return FOUND_EOF;
};      

// -------------------------------------------------------------------------- ;
/* \fdd{Generates error messsages according to an error status for example generated 
by posArgForKey(..)} 
*/
void util_parseError(
                int                             status,
                const char*             key,
                int                             number)
{
        switch(status)
        {
                case OKAY:
                        break;
                case KEY_BUT_NO_EQUAL:
                        std::cerr << "\nread(in) parse error : '=' expected behind";
                        std::cerr << key;
                        if (number >= 0)
                                std::cerr << " " << number;
                        std::cerr << " !";
                        break;
                case NO_KEY:
                        std::cerr << "\nread(in) parse error : '";
                        std::cerr << key;
                        if (number >= 0)
                                std::cerr << " " << number;
                        std::cerr << "' expected !";
                        break;
                case FOUND_EOF:
                        std::cerr << "\nread(in) parse error : premature EOF '";
                        std::cerr << key;
                        if (number >= 0)
                                std::cerr << " " << number;
                        std::cerr << "' expected !";
                        break;
                case NO_OPEN_BRACKET:
                        std::cerr << "\nread(in) parse error : '[' expected before";
                        std::cerr << key;
                        if (number >= 0)
                                std::cerr << " " << number;
                        std::cerr << " argument !";
                        break;
                case NO_SEPERATOR:
                        std::cerr << "\nread(in) parse error : ', ' expected ";
                        std::cerr << " between components of " << key;
                        if (number >= 0)
                                std::cerr << " " << number;
                        std::cerr << " argument !";
                        break;
                case NO_CLOSED_BRACKET:
                        std::cerr << "\nread(in) parse error : ']' expected behind";
                        std::cerr << key;
                        if (number >= 0)
                                std::cerr << " " << number;
                        std::cerr << " argument !";
                        break;
                default:
                        std::cerr << "\nread(in) : unknown error !?!?!?!?!?!?!?!?!";
                        break;
        };
};

// -------------------------------------------------------------------------- ;
/*
\fdd{combines posArgForKey(..) and parseError(..) to one function call.}
\arg{std::istream& inA}
\arg{const char* const keyA}
\arg{int numberA}
\arg{char delimA}
\ret{{\tt const int} is returned. If eof occured before anything else than 
  FOUND\_EOF is returned. If no key was found NO\_KEY is returned. 
  If a key was found but the wrong number followed KEY\_BUT\_WRONG\_NUMBER is returned.
  If a key was found, the number was negativ and no equal sign followed KEY\_BUT\_NO\_EQUAL 
  is returned. }
*/
void util_posArgForKeyWithCheck(
                std::istream&   in, 
                const char*             key, 
                int                             number, 
                char                    delim )
{
        int        status;
        
        status = util_posArgForKey(in, key, number, delim);
        
        if(status != OKAY)
                util_parseError(status, key);
};

#endif