utility.c

在LINUX下运行的仿真机器人服务器源代码

/* -*- Mode: C -*-
 *Header:
 *File: utility.C 
 *Author: Noda Itsuki
 *Date: 1995/02/24
 *EndHeader:
 */

/*
 *Copyright:

    Copyright (C) 1996-2000 Electrotechnical Laboratory. 
      Itsuki Noda, Yasuo Kuniyoshi and Hitoshi Matsubara.
    Copyright (C) 2000, 2001 RoboCup Soccer Server Maintainance Group.
      Patrick Riley, Tom Howard, Daniel Polani, Itsuki Noda,
  Mikhail Prokopenko, Jan Wendler 

    This file is a part of SoccerServer.

    This code is free software; you can redistribute it and/or
    modify it under the terms of the GNU Lesser General Public
    License as published by the Free Software Foundation; either
    version 2.1 of the License, or (at your option) any later version.

    This library 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 for more details.

    You should have received a copy of the GNU Lesser General Public
    License along with this library; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

 *EndCopyright:
 */

#include <cmath>
#include <cstdlib>
#include <sys/time.h>
#include <sys/types.h>
#include <pwd.h>
#include "param.h"
#include "types.h"
#include "utility.h"
#include <iostream>

/*
 *===================================================================
 *Part:      Random number utility
 *===================================================================
 */
unsigned int randomize(void)
{
  static unsigned int l ;

  static struct timeval Tv ;
  static struct timezone Tz ;
  gettimeofday( &Tv , &Tz ) ;
  l = (unsigned long)(Tv.tv_usec) ;
  srandom( l ) ;
  return l ;
}


/*
 *===================================================================
 *Part:      Angle
 *===================================================================
 */
double normalize_angle(double ang)
{
  while(1) {
    if (ang < -PI)
      ang += 2 * PI ;
    else if (ang > PI)
      ang -= 2 * PI ;
    else
      break ;
  }
  return ang ;
}


/*
 *==================================================================
 *Part:     Lowest Common Multiple
 *==================================================================
 */
int lcm (int a, int b)
{
  int tmp = 0, idx = 0, larger = std::max(a, b);
  do {
    idx++;
    tmp = larger * idx;
  } while (tmp % a != 0 || tmp % b != 0);
  return tmp;
}


/*
 *==================================================================
 *Part:     Tilde Expand
 *==================================================================
 */
// This will expand ~ and ~user at the beginning of the path specified
// in path_name.  No attempt is made to check or or canonize the path.
//
// Throws when an OS API gives us something unusable like a NULL pointer.

#if defined(_WIN32) || defined(__WIN32__) || defined (WIN32) || defined (__CYGWIN__)
#ifndef _WIN32_IE
#define _WIN32_IE 0x0400
#endif
#ifndef _WIN32_WINDOWS
#define _WIN32_WINDOWS 0x0490
#endif
#  include <windows.h>
#  include <shlobj.h>
#  include <stdio.h>
#  ifndef WIN32
#    define WIN32
#  endif
#endif


std::string tildeExpand( const std::string& path_name )
{
  // There must be a ~ at the start of the path for a valid
  // expansioin.
  if (path_name.length() == 0 || path_name[0] != '~')
  {
    return path_name;
  }

  std::string newPath;    // Used to store the new ~ expanded path.
  std::string username;  // Used to store user name of interest.

  if (path_name.length() == 1 
#ifdef WIN32
      || path_name[1] == '\\'
#else
      || path_name[1] == '/'
#endif
      )
  {
#ifdef WIN32
      char szpath[MAX_PATH];
      FILE* fp;
      if(SHGetSpecialFolderPath(NULL, szpath, CSIDL_PERSONAL, TRUE))
      {
          return szpath + path_name.substr( 1, path_name.length() );
      }
      else
      {
          return path_name;
      }
#else

      // Get the current user.
      char* err = getenv("USER");
      if( err == NULL )
      {
          // On Windows USERNAME is used instead
          err = getenv( "USERNAME" );
          if( err == 0 )
              return path_name;
      }

      username = err;
#endif
      // if succeeded, remove the tilde
      newPath = path_name.substr( 1, path_name.length() );	
  }
  else
  {
#ifdef WIN32
      return path_name;
  }
#else

    // Fish out the user name from path_name and remove it
    // from newPath.
    std::string::size_type userEnd = path_name.find('/');
    if (userEnd == std::string::npos)
    {
      // No / so whole path must be the username.
      userEnd = path_name.length();
    }
    username = path_name.substr(1, userEnd - 1);
    newPath = path_name.substr(userEnd, path_name.length());
  }

  // Get the passwd file entry for the user and place their home
  // directory path at the start of newPath.
  struct passwd *pwdEntry = getpwnam(username.c_str());
  if (pwdEntry == NULL)
    return path_name;

  newPath.insert(0, pwdEntry->pw_dir);

  return newPath;
#endif
}