vrpn_Shared.h

#pragma once
 
// Horrible hack for old HPUX compiler
#ifdef hpux
#ifndef true
#define bool int
#define true 1
#define false 0
#endif
#endif
 
// Definitions needed by several included files.
#define VRPN_PI (3.14159265358979323846)
#define VRPN_INCHES_TO_METERS (2.54/100.0)
#define VRPN_DEGREES_TO_RADIANS (VRPN_PI/180.0)
 
#include "vrpn_Configure.h" // for VRPN_API
#include "vrpn_Types.h" // for vrpn_int32, vrpn_float64, etc
#include "vrpn_Thread.h"
#include <string.h> // for memcpy(), strncpy()
#include <stdio.h> // for fprintf()
#include <new> // for new(std::nothrow)
 
#if defined(__ANDROID__)
#include <bitset>
#endif
 
// IWYU pragma: no_include <bits/time.h>
 
// Oct 2000: Sang-Uok changed because vrpn code was compiling but giving
// runtime errors with cygwin 1.1. I changed the code so it only uses unix
// code. I had to change includes in various files.
 
// jan 2000: jeff changing the way sockets are used with cygwin.  I made this
// change because I realized that we were using winsock stuff in some places,
// and cygwin stuff in others.  Discovered this when our code wouldn't compile
// in cygwin-1.0 (but it did in cygwin-b20.1).
 
// let's start with a clean slate
#undef VRPN_USE_WINSOCK_SOCKETS
 
// Does cygwin use winsock sockets or unix sockets
//#define VRPN_CYGWIN_USES_WINSOCK_SOCKETS
 
#if defined(_WIN32) &&                                                         \
    (!defined(__CYGWIN__) || defined(VRPN_CYGWIN_USES_WINSOCK_SOCKETS))
#define VRPN_USE_WINSOCK_SOCKETS
#define vrpn_SOCKET SOCKET
#endif
 
#ifndef VRPN_USE_WINSOCK_SOCKETS
// On Win32, this constant is defined as ~0 (sockets are unsigned ints)
#define INVALID_SOCKET -1
#define vrpn_SOCKET int
#endif
 
#if !(defined(_WIN32) && defined(VRPN_USE_WINSOCK_SOCKETS))
#include <sys/select.h> // for select
#include <netinet/in.h> // for htonl, htons
#endif
 
#ifdef _WIN32_WCE
#define perror(x) fprintf(stderr, "%s\n", x);
#endif
 
// comment from vrpn_Connection.h reads :
//
//   gethostbyname() fails on SOME Windows NT boxes, but not all,
//   if given an IP octet string rather than a true name.
//   Until we figure out WHY, we have this extra clause in here.
//   It probably wouldn't hurt to enable it for non-NT systems
//   as well.
#ifdef _WIN32
#define VRPN_USE_WINDOWS_GETHOSTBYNAME_HACK
#endif
 
//--------------------------------------------------------------
// Timeval defines.  These are a bit hairy.  The basic problem is
// that Windows doesn't implement gettimeofday(), nor does it
// define "struct timezone", although Winsock.h does define
// "struct timeval".  The painful solution has been to define a
// vrpn_gettimeofday() function that takes a void * as a second
// argument (the timezone) and have all VRPN code call this function
// rather than gettimeofday().  On non-WINSOCK implementations,
// we alias vrpn_gettimeofday() right back to gettimeofday(), so
// that we are calling the system routine.  On Windows, we will
// be using vrpn_gettimofday().  So far so good, but now user code
// would like to not have to know the difference under windows, so
// we have an optional VRPN configuration setting in vrpn_Configure.h
// that exports vrpn_gettimeofday() as gettimeofday() and also
// exports a "struct timezone" definition.  Yucky, but it works and
// lets user code use the VRPN one as if it were the system call
// on Windows.
 
#if (!defined(VRPN_USE_WINSOCK_SOCKETS))
#include <sys/time.h> // for timeval, timezone, gettimeofday
// If we're using std::chrono, then we implement a new
// vrpn_gettimeofday() on top of it in a platform-independent
// manner.  Otherwise, we just use the system call.
#ifndef VRPN_USE_STD_CHRONO
  #define vrpn_gettimeofday gettimeofday
#else
 extern "C" VRPN_API int vrpn_gettimeofday(struct timeval *tp,
 void *tzp = NULL);
#endif
#else // winsock sockets
 
// These are a pair of horrible hacks that instruct Windows include
// files to (1) not define min() and max() in a way that messes up
// standard-library calls to them, and (2) avoids pulling in a large
// number of Windows header files.  They are not used directly within
// the VRPN library, but rather within the Windows include files to
// change the way they behave.
 
#ifndef NOMINMAX
#define NOMINMAX
#endif
#ifndef WIN32_LEAN_AND_MEAN
#define WIN32_LEAN_AND_MEAN
#endif
#include <windows.h>
#ifndef _WIN32_WCE
#include <sys/timeb.h>
#endif
#ifdef VRPN_USE_WINSOCK2
#include <winsock2.h> // struct timeval is defined here
#else
#include <winsock.h> // struct timeval is defined here
#endif
 
// Whether or not we export gettimeofday, we declare the
// vrpn_gettimeofday() function on Windows.
extern "C" VRPN_API int vrpn_gettimeofday(struct timeval *tp,
 void *tzp = NULL);
 
// If compiling under Cygnus Solutions Cygwin then these get defined by
// including sys/time.h.  So, we will manually define only for _WIN32
// Only do this if the Configure file has set VRPN_EXPORT_GETTIMEOFDAY,
// so that application code can get at it.  All VRPN routines should be
// calling vrpn_gettimeofday() directly.
 
#if defined(VRPN_EXPORT_GETTIMEOFDAY)
 
// manually define this too.  _WIN32 sans cygwin doesn't have gettimeofday
#define gettimeofday vrpn_gettimeofday
 
#endif
#endif
 
//--------------------------------------------------------------
// vrpn_* timeval utility functions
 
// IMPORTANT: timevals must be normalized to make any sense
//
//  * normalized means abs(tv_usec) is less than 1,000,000
//
//  * TimevalSum and TimevalDiff do not do the right thing if
//    their inputs are not normalized
//
//  * TimevalScale now normalizes it's results [9/1999 it didn't before]
 
// make sure tv_usec is less than 1,000,000
extern VRPN_API struct timeval vrpn_TimevalNormalize(const struct timeval &tv);
 
extern VRPN_API struct timeval vrpn_TimevalSum(const struct timeval &tv1,
 const struct timeval &tv2);
extern VRPN_API struct timeval vrpn_TimevalDiff(const struct timeval &tv1,
 const struct timeval &tv2);
extern VRPN_API struct timeval vrpn_TimevalScale(const struct timeval &tv,
 double scale);
 
extern VRPN_API unsigned long vrpn_TimevalDuration(struct timeval endT,
 struct timeval startT);
 
extern VRPN_API double vrpn_TimevalDurationSeconds(struct timeval endT,
 struct timeval startT);
 
extern VRPN_API bool vrpn_TimevalGreater(const struct timeval &tv1,
 const struct timeval &tv2);
extern VRPN_API bool vrpn_TimevalEqual(const struct timeval &tv1,
 const struct timeval &tv2);
 
extern VRPN_API double vrpn_TimevalMsecs(const struct timeval &tv1);
 
extern VRPN_API struct timeval vrpn_MsecsTimeval(const double dMsecs);
extern VRPN_API void vrpn_SleepMsecs(double dMilliSecs);
 
//--------------------------------------------------------------
// vrpn_* buffer util functions and endian-ness related
// definitions and functions.
 
// xform a double to/from network order -- like htonl and htons
extern VRPN_API vrpn_float64 vrpn_htond(vrpn_float64 d);
extern VRPN_API vrpn_float64 vrpn_ntohd(vrpn_float64 d);
 
// From this we get the variable "vrpn_big_endian" set to true if the machine we
// are
// on is big endian and to false if it is little endian.  This can be used by
// custom packing and unpacking code to bypass the buffer and unbuffer routines
// for cases that have to be particularly fast (like video data).  It is also
// used
// internally by the vrpn_htond() function.
 
static const int vrpn_int_data_for_endian_test = 1;
static const char *vrpn_char_data_for_endian_test =
 static_cast<const char*>(static_cast<const void *>((&vrpn_int_data_for_endian_test)));
static const bool vrpn_big_endian = (vrpn_char_data_for_endian_test[0] != 1);
 
// Read and write strings (not single items).
extern VRPN_API int vrpn_buffer(char **insertPt, vrpn_int32 *buflen,
 const char *string, vrpn_int32 length);
extern VRPN_API int vrpn_unbuffer(const char **buffer, char *string,
                                  vrpn_int32 length);
 
// Read and write timeval.
extern VRPN_API int vrpn_unbuffer(const char **buffer, timeval *t);
extern VRPN_API int vrpn_buffer(char **insertPt, vrpn_int32 *buflen,
 const timeval t);
 
// To read and write the atomic types defined in vrpn_Types, you use the
// templated
// buffer and unbuffer routines below.  These have the same form as the ones for
// timeval, but they use types vrpn_int, vrpn_uint, vrpn_int16, vrpn_uint16,
// vrpn_int32, vrpn_uint32, vrpn_float32, and vrpn_float64.
 
//          Copyright Iowa State University 2011.
// Distributed under the Boost Software License, Version 1.0.
//    (See accompanying file LICENSE_1_0.txt or copy at
//          http://www.boost.org/LICENSE_1_0.txt)
 
// Tested in the context of vrpn_server and vrpn_print_devices running between
// an SGI running Irix 6.5 MIPS 32-bit (big endian) and Mac OSX intel 64-bit
// (little endian) machine with a NULL tracker and it worked using the SGI
// repaired commits from 3/17/2012.
 
namespace vrpn_byte_order {
 namespace vrpn_detail {
 template <int TypeSize> struct uint_traits;
 
 template <> struct uint_traits<1> {
 typedef vrpn_uint8 type;
        };
 template <> struct uint_traits<2> {
 typedef vrpn_uint16 type;
        };
 template <> struct uint_traits<4> {
 typedef vrpn_uint32 type;
        };
    } // end of namespace vrpn_detail
 
 inline vrpn_uint8 hton(vrpn_uint8 hostval) { return hostval; }
 
 inline vrpn_uint8 ntoh(vrpn_uint8 netval) { return netval; }
 
 inline vrpn_uint16 hton(vrpn_uint16 hostval) { return htons(hostval); }
 
 inline vrpn_uint16 ntoh(vrpn_uint16 netval) { return ntohs(netval); }
 
 inline vrpn_uint32 hton(vrpn_uint32 hostval) { return htonl(hostval); }
 
 inline vrpn_uint32 ntoh(vrpn_uint32 netval) { return ntohl(netval); }
 
 inline vrpn_float64 hton(vrpn_float64 hostval) { return vrpn_htond(hostval); }
 
 inline vrpn_float64 ntoh(vrpn_float64 netval) { return vrpn_ntohd(netval); }
 
 template <typename T> inline T hton(T input)
    {
 union {
            T asInput;
 typename vrpn_detail::uint_traits<sizeof(T)>::type asInt;
        } inVal, outVal;
        inVal.asInput = input;
        outVal.asInt = hton(inVal.asInt);
 return outVal.asInput;
    }
 
 template <typename T> inline T ntoh(T input)
    {
 union {
            T asInput;
 typename vrpn_detail::uint_traits<sizeof(T)>::type asInt;
        } inVal, outVal;
        inVal.asInput = input;
        outVal.asInt = ntoh(inVal.asInt);
 return outVal.asInput;
    }
} // end of namespace vrpn_byte_order
 
namespace vrpn_detail {
 template <typename T> struct remove_const {
 typedef T type;
    };
 
 template <typename T> struct remove_const<const T> {
 typedef T type;
    };
 
 template <bool Condition> struct vrpn_static_assert {
    };
 template <> struct vrpn_static_assert<true> {
 enum { SIZE_OF_BUFFER_ITEM_IS_NOT_ONE_BYTE };
    };
} // end of namespace vrpn_detail
 
#ifdef VRPN_USE_STATIC_ASSERTIONS
#if defined(__GXX_EXPERIMENTAL_CXX0X__) ||                                     \
    (defined(_MSC_VER) && (_MSC_VER >= 1600))
#define VRPN_STATIC_ASSERT(CONDITION, MESSAGE)                                 \
    static_assert(CONDITION, #MESSAGE)
#else
#define VRPN_STATIC_ASSERT(CONDITION, MESSAGE)                                 \
    (void)(::vrpn_detail::vrpn_static_assert<CONDITION>::MESSAGE)
#endif
#else
#include <assert.h>
#define VRPN_STATIC_ASSERT(CONDITION, MESSAGE) assert((CONDITION) && #MESSAGE)
#endif
 
template <typename T, typename ByteT>
static inline T vrpn_unbuffer_from_little_endian(ByteT *&input)
{
 using namespace vrpn_byte_order;
 
    VRPN_STATIC_ASSERT(sizeof(ByteT) == 1, SIZE_OF_BUFFER_ITEM_IS_NOT_ONE_BYTE);
 
 union {
        typename ::vrpn_detail::remove_const<ByteT>::type bytes[sizeof(T)];
        T typed;
    } value;
 
 for (unsigned int i = 0, j = sizeof(T) - 1; i < sizeof(T); ++i, --j) {
        value.bytes[i] = input[j];
    }
 
    input += sizeof(T);
 
 return ntoh(value.typed);
}
 
template <typename T, typename ByteT> inline T vrpn_unbuffer(ByteT *&input)
{
 using namespace vrpn_byte_order;
 
    VRPN_STATIC_ASSERT(sizeof(ByteT) == 1, SIZE_OF_BUFFER_ITEM_IS_NOT_ONE_BYTE);
 
 union {
        typename ::vrpn_detail::remove_const<ByteT>::type bytes[sizeof(T)];
        T typed;
    } value;
 
    memcpy(value.bytes, input, sizeof(T));
 
    input += sizeof(T);
 
 return ntoh(value.typed);
}
 
template <typename T, typename ByteT>
inline int vrpn_buffer_to_little_endian(ByteT **insertPt, vrpn_int32 *buflen, const T inVal)
{
 using namespace vrpn_byte_order;
 
    VRPN_STATIC_ASSERT(sizeof(ByteT) == 1, SIZE_OF_BUFFER_ITEM_IS_NOT_ONE_BYTE);
 
 if ((insertPt == NULL) || (buflen == NULL)) {
        fprintf(stderr, "vrpn_buffer: NULL pointer\n");
 return -1;
    }
 
 if (sizeof(T) > static_cast<size_t>(*buflen)) {
        fprintf(stderr, "vrpn_buffer: buffer not large enough\n");
 return -1;
    }
 
 union {
        typename ::vrpn_detail::remove_const<ByteT>::type bytes[sizeof(T)];
        T typed;
    } value;
 
    value.typed = hton(inVal);
 
 for (unsigned int i = 0, j = sizeof(T) - 1; i < sizeof(T); ++i, --j) {
        (*insertPt)[i] = value.bytes[j];
    }
 
    *insertPt += sizeof(T);
    *buflen -= sizeof(T);
 
 return 0;
}
 
template <typename T, typename ByteT>
inline int vrpn_buffer(ByteT **insertPt, vrpn_int32 *buflen, const T inVal)
{
 using namespace vrpn_byte_order;
 
    VRPN_STATIC_ASSERT(sizeof(ByteT) == 1, SIZE_OF_BUFFER_ITEM_IS_NOT_ONE_BYTE);
 
 if ((insertPt == NULL) || (buflen == NULL)) {
        fprintf(stderr, "vrpn_buffer: NULL pointer\n");
 return -1;
    }
 
 if (sizeof(T) > static_cast<size_t>(*buflen)) {
        fprintf(stderr, "vrpn_buffer: buffer not large enough\n");
 return -1;
    }
 
 union {
        typename ::vrpn_detail::remove_const<ByteT>::type bytes[sizeof(T)];
        T typed;
    } value;
 
    value.typed = hton(inVal);
 
    memcpy(*insertPt, value.bytes, sizeof(T));
 
    *insertPt += sizeof(T);
    *buflen -= sizeof(T);
 
 return 0;
}
 
template <typename T, typename ByteT>
inline int vrpn_unbuffer(ByteT **input, T *lvalue)
{
    *lvalue = ::vrpn_unbuffer<T, ByteT>(*input);
 return 0;
}
 
// Returns true if tests work and false if they do not.
extern bool vrpn_test_pack_unpack(void);
 
inline char *vrpn_strncpynull(char* dst, const char* src, size_t size)
{
 if (size > 0) {
 size_t i;
 for (i = 0; i < size - 1 && src[i]; i++) {
            dst[i] = src[i];
        }
        dst[i] = '\0';
    }
 return dst;
}
 
 
template <size_t charCount> void vrpn_strcpy(char (&to)[charCount], const char* pSrc)
{
 // Copy the string - don't copy too many bytes.
#ifdef _WIN32
  strncpy_s(to, pSrc, charCount);
#else
  strncpy(to, pSrc, charCount - 1);
#endif
 // Ensure null-termination.
  to[charCount - 1] = 0;
}
 
// This is a replacement for std::vector that implements the subset of
// features needed for the VRPN objects that use it.
// We can't use std::vector because:
//  (1) We need to continue to support compilers from before it
//      was defined.
//  (2) Phantom force-feedback drivers include <vector.h>, and the same
//      code that uses it cannot include <vector>; they are link-time
//      incompatible.
// We call this structure vrpn_vector rather than vrpn::vector to avoid
// having an application end up using it by mistake when they mean
// std::vector.
 
template <class T> class vrpn_vector {
public:
 typedef size_t size_type;
 typedef T* iterator;
 typedef const T* const_iterator;
 vrpn_vector() : m_size(0), m_data(0), m_allocated(0) {};
 vrpn_vector(size_type s) : m_size(0), m_data(0), m_allocated(0) {
    m_data = new T[s];
    m_size = m_allocated = s;
  }
 vrpn_vector( const vrpn_vector &from )
  : m_size(from.size()), m_data(0), m_allocated(from.size()) {
    m_data = new T[m_size];
 for (size_t i = 0; i < m_size; i++) {
      m_data[i] = from.m_data[i];
    }
  }
 template< class InputIt >
 vrpn_vector( InputIt first, InputIt last ) : m_size(0), m_data(0), m_allocated(0) {
 for (InputIt it = first; it != last; ++it) {
      push_back(*it);
    }
  }
 ~vrpn_vector() {
 delete [] m_data;
    m_size = m_allocated = 0;
  }
 vrpn_vector &operator =(const vrpn_vector& from)
  {
 delete[] m_data;
    m_size = m_allocated = from.size();
    m_data = new T[m_size];
 for (size_t i = 0; i < m_size; i++) {
      m_data[i] = from.m_data[i];
    }
 return *this;
  }
  T* data() { return m_data; }
  size_type size() const { return m_size; }
 bool empty() const { return m_size == 0; }
 void resize(size_type s) {
 // If we already have enough allocated space, set the size
 // and leave the allocated size alone.
 if (s <= m_allocated) {
      m_size = s;
    } else {
 // We do not have enough space, so we need to allocate a new buffer
 // and then copy the old buffer and then delete the original buffer.
      T* newData = new T[s];
 for (size_t i = 0; i < m_size; i++) {
        newData[i] = m_data[i];
      }
 delete [] m_data;
      m_data = newData;
      m_size = m_allocated = s;
    }
  }
 void push_back (const T& val) {
    resize(m_size + 1);
    m_data[m_size-1] = val;
  }
  T& front() {
 return m_data[0];
  }
  T& back() {
 return m_data[m_size-1];
  }
  T& operator[]( size_type pos ) {
 return m_data[pos];
  }
 const T& operator[]( size_type pos ) const {
 return m_data[pos];
  }
 void assign( size_type count, const T& value ) {
    resize(count);
 for (size_type i = 0; i < size(); i++) {
      m_data[i] = value;
    }
  }
 void clear() { m_size = 0; }
 template< class InputIt >
 void assign( InputIt first, InputIt last ) {
    clear();
 for (InputIt it = first; it != last; it++) {
      push_back(*it);
    }
  }
  iterator begin() { return m_data; }
  const_iterator begin() const { return m_data; }
  iterator end() {
 if (m_size != 0) {
 return &m_data[m_size];
    } else {
 return 0;
    }
  }
  const_iterator end() const {
 if (m_size != 0) {
 return &m_data[m_size];
    } else {
 return 0;
    }
  }
private:
  size_type m_size, m_allocated;
  T* m_data;
};
 
// Returns true if tests work and false if they do not.
extern bool vrpn_test_vrpn_vector(void);