Gazebo Common

API Reference

6.0.0
include/gz/common/Util.hh
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1/*
2 * Copyright (C) 2016 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17#ifndef GZ_COMMON_UTIL_HH_
18#define GZ_COMMON_UTIL_HH_
19
20#include <cassert>
21#include <chrono>
22#include <future>
23#include <memory>
24#include <string>
25#include <thread>
26#include <vector>
27
28#include <gz/common/Export.hh>
31#include <gz/common/URI.hh>
32
34// Defines
35
36#ifdef _WIN32
37# define GZ_HOMEDIR "USERPROFILE"
38#else
39# define GZ_HOMEDIR "HOME"
40#endif
41
43#define GZ_NANO_TO_SEC 1e-9
44
46#define GZ_SEC_TO_NANO 1000000000
47
49#define GZ_MS_TO_NANO 1000000
50
52#define GZ_US_TO_NANO 1000
53
55#define GZ_SPEED_OF_LIGHT = 299792458.0
56
58#define GZ_SLEEP_S(_s) (std::this_thread::sleep_for(\
59 std::chrono::seconds(_s)))
60
62#define GZ_SLEEP_US(_us) (std::this_thread::sleep_for(\
63 std::chrono::microseconds(_us)))
64
66#define GZ_SLEEP_MS(_ms) (std::this_thread::sleep_for(\
67 std::chrono::milliseconds(_ms)))
68
70#define GZ_SLEEP_NS(_ns) (std::this_thread::sleep_for(\
71 std::chrono::nanoseconds(_ns)))
72
74#define GZ_SYSTEM_TIME() (std::chrono::system_clock::now())
75
77#define GZ_SYSTEM_TIME_S() (std::chrono::duration_cast<std::chrono::seconds>(\
78 std::chrono::system_clock::now().time_since_epoch()).count())
79
81#define GZ_SYSTEM_TIME_US() (\
82 std::chrono::duration_cast<std::chrono::microseconds>(\
83 std::chrono::system_clock::now().time_since_epoch()).count())
84
86#define GZ_SYSTEM_TIME_MS() (\
87 std::chrono::duration_cast<std::chrono::milliseconds>(\
88 std::chrono::system_clock::now().time_since_epoch()).count())
89
91#define GZ_SYSTEM_TIME_NS() (\
92 std::chrono::duration_cast<std::chrono::nanoseconds>(\
93 std::chrono::system_clock::now().time_since_epoch()).count())
94
97#define GZ_ASSERT(_expr, _msg) assert((_msg, _expr))
98
100namespace gz
101{
102 namespace common
103 {
106
109
115 std::string GZ_COMMON_VISIBLE systemTimeISO();
116
119 std::string GZ_COMMON_VISIBLE systemTimeIso();
120
125 std::string GZ_COMMON_VISIBLE timeToIso(
127
130 std::string GZ_COMMON_VISIBLE logPath();
131
134 void GZ_COMMON_VISIBLE addSearchPathSuffix(
135 const std::string &_suffix);
136
140 std::string GZ_COMMON_VISIBLE findFile(const std::string &_file);
141
147 std::string GZ_COMMON_VISIBLE findFile(const std::string &_file,
148 bool _searchLocalPath);
149
153 std::string GZ_COMMON_VISIBLE findFilePath(const std::string &_file);
154
163 void GZ_COMMON_VISIBLE addFindFileURICallback(
164 std::function<std::string(const URI &)> _cb);
165
172 common::SystemPaths GZ_COMMON_VISIBLE *systemPaths();
173
178 template<typename T>
179 std::string sha1(const T &_buffer);
180
187 std::string GZ_COMMON_VISIBLE sha1(
188 void const *_buffer, std::size_t _byteCount);
189
194 constexpr uint64_t GZ_COMMON_VISIBLE hash64(std::string_view _key)
195 {
196 const char *data = _key.data();
197 const auto len = _key.size();
198 const uint64_t prime = 0x100000001b3;
199 uint64_t hash = 0xcbf29ce484222325;
200
201 for (auto i = 0u; i < len; ++i)
202 {
203 uint8_t value = static_cast<uint8_t>(data[i]);
204 hash = hash ^ value;
205 hash *= prime;
206 }
207
208 return hash;
209 }
210
218 bool GZ_COMMON_VISIBLE env(
219 const std::string &_name, std::string &_value);
220
227 bool GZ_COMMON_VISIBLE env(
228 const std::string &_name, std::string &_value,
229 bool _allowEmpty);
230
239 bool GZ_COMMON_VISIBLE setenv(
240 const std::string &_name, const std::string &_value);
241
245 bool GZ_COMMON_VISIBLE unsetenv(const std::string &_name);
246
249 std::string GZ_COMMON_VISIBLE uuid();
250
256 const std::string &_str, const std::string &_delim);
257
260 void GZ_COMMON_VISIBLE ltrim(std::string &_s);
261
264 void GZ_COMMON_VISIBLE rtrim(std::string &_s);
265
268 void GZ_COMMON_VISIBLE trim(std::string &_s);
269
273 std::string GZ_COMMON_VISIBLE ltrimmed(std::string _s);
274
278 std::string GZ_COMMON_VISIBLE rtrimmed(std::string _s);
279
283 std::string GZ_COMMON_VISIBLE trimmed(std::string _s);
284
288 std::string GZ_COMMON_VISIBLE lowercase(const std::string &_in);
289
293 std::string GZ_COMMON_VISIBLE lowercase(const char *_in);
294
303 void GZ_COMMON_VISIBLE replaceAll(std::string &_result,
304 const std::string &_orig,
305 const std::string &_key,
306 const std::string &_replacement);
307
316 std::string GZ_COMMON_VISIBLE replaceAll(const std::string &_orig,
317 const std::string &_key,
318 const std::string &_replacement);
319 }
320}
321
323// Implementation of get_sha1
324template<typename T>
326{
327 if (_buffer.size() == 0)
328 return gz::common::sha1(NULL, 0);
329 else
330 {
331 return gz::common::sha1(
332 &(_buffer[0]), _buffer.size() * sizeof(_buffer[0]));
333 }
334}
335#endif