Directories, files, and file names

Detailed Description

Header: #include <mrpt/system/filesystem.h>.

Library: [mrpt-system]

Collaboration diagram for Directories, files, and file names:

Macros
#define	ASSERT_FILE_EXISTS_(FIL)
#define	ASSERT_DIRECTORY_EXISTS_(DIR)

Functions
std::string	mrpt::system::getTempFileName ()
	Returns the name of a proposed temporary file name. More...
std::string	mrpt::system::getcwd ()
	Returns the current working directory. More...
std::string	mrpt::system::getShareMRPTDir ()
	Attempts to find the directory [PREFIX/]share/mrpt/ and returns its absolute path, or empty string if not found. More...
bool	mrpt::system::createDirectory (const std::string &dirName)
	Creates a directory. More...
bool	mrpt::system::deleteFile (const std::string &fileName)
	Deletes a single file. More...
void	mrpt::system::deleteFiles (const std::string &s)
	Delete one or more files, especified by the (optional) path and the file name (including '?' or '*') - Use forward slash ('/') for directories for compatibility between Windows and Linux, since they will be internally traslated into backward slashes ('\') if MRPT is compiled under Windows. More...
bool	mrpt::system::renameFile (const std::string &oldFileName, const std::string &newFileName, std::string *error_msg=nullptr)
	Renames a file - If the target path is different and the filesystem allows it, it will be moved to the new location. More...
bool	mrpt::system::deleteFilesInDirectory (const std::string &s, bool deleteDirectoryAsWell=false)
	Delete all the files in a given directory (nothing done if directory does not exists, or path is a file). More...
std::string	mrpt::system::extractFileName (const std::string &filePath)
	Extract just the name (without extension) of a filename from a complete path plus name plus extension. More...
std::string	mrpt::system::extractFileExtension (const std::string &filePath, bool ignore_gz=false)
	Extract the extension of a filename. More...
std::string	mrpt::system::extractFileDirectory (const std::string &filePath)
	Extract the whole path (the directory) of a filename from a complete path plus name plus extension. More...
bool	mrpt::system::fileExists (const std::string &fileName)
	Test if a given file (or directory) exists. More...
bool	mrpt::system::directoryExists (const std::string &fileName)
	Test if a given directory exists (it fails if the given path refers to an existing file). More...
std::string	mrpt::system::fileNameStripInvalidChars (const std::string &filename, const char replacement_to_invalid_chars='_')
	Replace invalid filename chars by underscores ('_') or any other user-given char. More...
std::string	mrpt::system::fileNameChangeExtension (const std::string &filename, const std::string &newExtension)
	Replace the filename extension by another one. More...
uint64_t	mrpt::system::getFileSize (const std::string &fileName)
	Return the size of the given file, or size_t(-1) if some error is found accessing that file. More...
time_t	mrpt::system::getFileModificationTime (const std::string &filename)
	Return the time of the file last modification, or "0" if the file doesn't exist. More...
std::string	mrpt::system::filePathSeparatorsToNative (const std::string &filePath)
	Windows: replace all '/'->'\' , in Linux/MacOS: replace all '\'->'/'. More...
bool	mrpt::system::copyFile (const std::string &sourceFile, const std::string &targetFile, std::string *outErrStr=nullptr, bool copyAttribs=true)
	Copies file sourceFile to targetFile. More...

Macro Definition Documentation

ASSERT_DIRECTORY_EXISTS_

#define ASSERT_DIRECTORY_EXISTS_

(

DIR

)

Value:

ASSERTMSG_(                                              \
        mrpt::system::directoryExists(DIR),                  \
        std::string("Assert directory existence failed: ") + \
            ::std::string(DIR))

Definition at line 27 of file filesystem.h.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization().

ASSERT_FILE_EXISTS_

#define ASSERT_FILE_EXISTS_

(

FIL

)

Value:

ASSERTMSG_(                        \
        mrpt::system::fileExists(FIL), \
        std::string("Assert file existence failed: ") + ::std::string(FIL))

Definition at line 22 of file filesystem.h.

Referenced by generic_pf_test(), mrpt::apps::ICP_SLAM_App_Rawlog::impl_initialize(), mrpt::apps::RBPF_SLAM_App_Rawlog::impl_initialize(), mrpt::apps::MonteCarloLocalization_Rawlog::impl_initialize(), mrpt::apps::KFSLAMApp::initialize(), mrpt::apps::RawlogGrabberApp::initialize(), mrpt::apps::MonteCarloLocalization_Base::initialize(), mrpt::apps::ICP_SLAM_App_Base::initialize(), mrpt::apps::RBPF_SLAM_App_Base::initialize(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::TRGBDInfoFileParams::parseFile(), mrpt::apps::KFSLAMApp::Run_KF_SLAM(), TEST(), and GraphTester< my_graph_t >::test_optimize_compare_known_solution().

Function Documentation

copyFile()

bool mrpt::system::copyFile	(	const std::string &	sourceFile,
		const std::string &	targetFile,
		std::string *	outErrStr = nullptr,
		bool	copyAttribs = true
	)

Copies file sourceFile to targetFile.

If the target file exists, it will be overwritten. If the target file cannot be overwritten, the function first tries to change its permissions/attributes and retries opening it for write.

Note

Only for Windows: After a successful copy, if copyAttribs is true, the attributes of the source file are also copied. Note that not all attributes can be copied: http://msdn2.microsoft.com/en-us/library/aa365535.aspx

Returns

true on success, false on any error, whose description can be optionally get in outErrStr

Definition at line 390 of file filesystem.cpp.

References mrpt::system::directoryExists(), mrpt::system::os::fclose(), mrpt::system::fileExists(), mrpt::system::filePathSeparatorsToNative(), and mrpt::system::os::fopen().

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createDirectory()

bool mrpt::system::createDirectory

(

const std::string &

dirName

)

Creates a directory.

Returns

Returns false on any error, true on directory created or already existed.

Definition at line 161 of file filesystem.cpp.

References mrpt::format().

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::hmtslam::CTopLCDetector_GridMatching::computeTopologicalObservationModel(), mrpt::nav::CParameterizedTrajectoryGenerator::debugDumpInFiles(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::nav::CAbstractPTGBasedReactive::enableLogFile(), mrpt::hmtslam::CHMTSLAM::initializeEmptyMap(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), mrpt::apps::ICP_SLAM_App_Base::run(), mrpt::apps::KFSLAMApp::Run_KF_SLAM(), mrpt::hwdrivers::CSwissRanger3DCamera::setPathForExternalImages(), mrpt::hwdrivers::CCameraSensor::setPathForExternalImages(), and mrpt::nav::PlannerRRT_SE2_TPS::solve().

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deleteFile()

bool mrpt::system::deleteFile

(

const std::string &

fileName

)

Deletes a single file.

For multiple files see deleteFiles

Returns

Returns false on any error, true on everything OK.

See also

deleteFiles

Definition at line 182 of file filesystem.cpp.

Referenced by mrpt::system::deleteFilesInDirectory().

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deleteFiles()

void mrpt::system::deleteFiles

(

const std::string &

s

)

Delete one or more files, especified by the (optional) path and the file name (including '?' or '*') - Use forward slash ('/') for directories for compatibility between Windows and Linux, since they will be internally traslated into backward slashes ('\') if MRPT is compiled under Windows.

See also

deleteFile

Definition at line 190 of file filesystem.cpp.

References mrpt::system::os::fprintf(), MRPT_END, MRPT_START, mrpt::system::os::sprintf(), and mrpt::system::os::strcat().

Referenced by mrpt::apps::CGridMapAlignerApp::run().

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deleteFilesInDirectory()

bool mrpt::system::deleteFilesInDirectory	(	const std::string &	s,
		bool	deleteDirectoryAsWell = false
	)

Delete all the files in a given directory (nothing done if directory does not exists, or path is a file).

See also

deleteFile

Returns

true on success

Definition at line 218 of file filesystem.cpp.

References _rmdir, mrpt::system::deleteFile(), mrpt::system::directoryExists(), mrpt::system::CDirectoryExplorer::explore(), FILE_ATTRIB_ARCHIVE, and FILE_ATTRIB_DIRECTORY.

Referenced by mrpt::slam::CGridMapAligner::AlignPDF_robustMatch(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::hmtslam::CHMTSLAM::initializeEmptyMap(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), mrpt::apps::ICP_SLAM_App_Base::run(), mrpt::apps::RBPF_SLAM_App_Base::run(), and mrpt::apps::KFSLAMApp::Run_KF_SLAM().

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directoryExists()

bool mrpt::system::directoryExists

(

const std::string &

fileName

)

Test if a given directory exists (it fails if the given path refers to an existing file).

See also

fileExists

Definition at line 137 of file filesystem.cpp.

References _stat.

Referenced by mrpt::system::copyFile(), mrpt::system::deleteFilesInDirectory(), mrpt::nav::CAbstractPTGBasedReactive::enableLogFile(), mrpt::system::find_mrpt_shared_dir(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::generateReportFiles(), mrpt::system::getShareMRPTDir(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), mrpt::gui::CPanelCameraSelection::OnbtnBrowseRawlogClick(), and mrpt::system::CFileSystemWatcher::thread_win32_watch().

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extractFileDirectory()

string mrpt::system::extractFileDirectory

(

const std::string &

filePath

)

Extract the whole path (the directory) of a filename from a complete path plus name plus extension.

This function works for either "/" or "\" directory separators.

See also

extractFileName,extractFileExtension

Definition at line 78 of file filesystem.cpp.

Referenced by mrpt::obs::CRawlog::detectImagesDirectory(), mrpt::system::find_mrpt_shared_dir(), mrpt::system::getShareMRPTDir(), mrpt::apps::RBPF_SLAM_App_Rawlog::impl_initialize(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initClass(), mrpt::gui::CPanelCameraSelection::OnbtnBrowseRawlogClick(), run_rnav_test(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::TRGBDInfoFileParams::setRawlogFile(), and TEST().

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extractFileExtension()

string mrpt::system::extractFileExtension	(	const std::string &	filePath,
		bool	ignore_gz = false
	)

Extract the extension of a filename.

For example, for "dummy.cpp", it will return "cpp". If "ignore_gz" is true, the second extension will be returned if the file name ends in ".gz", for example, for "foo.map.gz", this will return "map".

See also

extractFileName,extractFileDirectory

Definition at line 98 of file filesystem.cpp.

Referenced by mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::system::CDirectoryExplorer::filterByExtension(), mrpt::obs::CObservation3DRangeScan::load(), mrpt::maps::CPointsMapXYZI::loadFromKittiVelodyneFile(), mrpt::ros1bridge::MapHdl::loadMap(), mrpt::obs::CObservation3DRangeScan::rangeImage_getExternalStorageFile(), mrpt::apps::CGridMapAlignerApp::run(), run_test_pf_localization(), and TEST().

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extractFileName()

string mrpt::system::extractFileName

(

const std::string &

filePath

)

Extract just the name (without extension) of a filename from a complete path plus name plus extension.

This function works for either "/" or "\" directory separators.

See also

extractFileExtension,extractFileDirectory

Definition at line 62 of file filesystem.cpp.

Referenced by mrpt::obs::CRawlog::detectImagesDirectory(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initClass(), mrpt::hwdrivers::TCaptureOptions_DUO3D::m_camera_ext_params_from_yml(), mrpt::hwdrivers::TCaptureOptions_DUO3D::m_camera_int_params_from_yml(), mrpt::hwdrivers::TCaptureOptions_DUO3D::m_rectify_map_from_yml(), mrpt::system::CTimeLogger::saveToMFile(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::TRGBDInfoFileParams::setRawlogFile(), and TEST().

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fileExists()

bool mrpt::system::fileExists

(

const std::string &

fileName

)

Test if a given file (or directory) exists.

See also

directoryExists

Definition at line 128 of file filesystem.cpp.

References _access.

Referenced by mrpt::maps::CGasConcentrationGridMap2D::build_Gaussian_Wind_Grid(), mrpt::system::copyFile(), mrpt::obs::CRawlog::detectImagesDirectory(), mrpt::apps::MonteCarloLocalization_Base::do_pf_localization(), mrpt::nav::CAbstractPTGBasedReactive::enableLogFile(), generic_icp_slam_test(), generic_kf_slam_test(), generic_rbpf_slam_test(), mrpt::slam::CMetricMapBuilder::loadCurrentMapFromFile(), mrpt::ros1bridge::MapHdl::loadMap(), mrpt::hmtslam::CHMTSLAM::loadOptions(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::loadParams(), CGraphSlamHandler< GRAPH_T >::readConfigFname(), readFileWithPoses(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::readGTFile(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::readGTFileRGBD_TUM(), mrpt::apps::CGridMapAlignerApp::run(), mrpt::apps::KFSLAMApp::Run_KF_SLAM(), run_rnav_test(), run_test_pf_localization(), TEST(), and mrpt::obs::CObservationPointCloud::unload().

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fileNameChangeExtension()

std::string mrpt::system::fileNameChangeExtension	(	const std::string &	filePath,
		const std::string &	newExtension
	)

Replace the filename extension by another one.

Example:

fileNameChangeExtension("cool.txt","bar") // -> "cool.bar"

Definition at line 373 of file filesystem.cpp.

Referenced by mrpt::obs::CObservation3DRangeScan::points3D_convertToExternalStorage(), mrpt::obs::CObservation3DRangeScan::rangeImage_convertToExternalStorage(), mrpt::obs::CObservation3DRangeScan::rangeImage_getExternalStorageFile(), and TEST().

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fileNameStripInvalidChars()

std::string mrpt::system::fileNameStripInvalidChars	(	const std::string &	filename,
		const char	replacement_to_invalid_chars = '_'
	)

Replace invalid filename chars by underscores ('_') or any other user-given char.

Invalid chars are: '<','>',':','"','/','\','|','?','*'

Definition at line 329 of file filesystem.cpp.

Referenced by mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CCameraSensor::getNextFrame(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CNTRIPEmitter::initialize(), mrpt::nav::CParameterizedTrajectoryGenerator::initialize(), CGraphSlamHandler< GRAPH_T >::initOutputDir(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::initResultsFile(), mrpt::hwdrivers::CVelodyneScanner::receivePackets(), mrpt::apps::RawlogGrabberApp::run(), mrpt::maps::CMultiMetricMap::saveMetricMapRepresentationToFile(), mrpt::system::CTimeLogger::saveToMFile(), CGraphSlamHandler< GRAPH_T >::setResultsDirName(), mrpt::hwdrivers::CCameraSensor::thread_save_images(), and mrpt::system::CTimeLoggerSaveAtDtor::~CTimeLoggerSaveAtDtor().

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filePathSeparatorsToNative()

std::string mrpt::system::filePathSeparatorsToNative

(

const std::string &

filePath

)

Windows: replace all '/'->'\' , in Linux/MacOS: replace all '\'->'/'.

Definition at line 612 of file filesystem.cpp.

Referenced by mrpt::system::copyFile(), and TEST().

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getcwd()

std::string mrpt::system::getcwd

(

)

Returns the current working directory.

Definition at line 251 of file filesystem.cpp.

References MRPT_END, MRPT_START, mrpt::math::size(), and THROW_EXCEPTION.

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getFileModificationTime()

time_t mrpt::system::getFileModificationTime

(

const std::string &

filename

)

Return the time of the file last modification, or "0" if the file doesn't exist.

Definition at line 628 of file filesystem.cpp.

getFileSize()

uint64_t mrpt::system::getFileSize

(

const std::string &

fileName

)

Return the size of the given file, or size_t(-1) if some error is found accessing that file.

Definition at line 351 of file filesystem.cpp.

Referenced by mrpt::io::CFileGZInputStream::open().

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getShareMRPTDir()

std::string mrpt::system::getShareMRPTDir

(

)

Attempts to find the directory [PREFIX/]share/mrpt/ and returns its absolute path, or empty string if not found.

Example return paths: Linux after installing = /usr/share/mrpt/; manually-built system = [CMAKE_SOURCE_DIR]/share/mrpt/, etc.

Definition at line 641 of file filesystem.cpp.

References mrpt::system::directoryExists(), and mrpt::system::extractFileDirectory().

Referenced by TEST().

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getTempFileName()

std::string mrpt::system::getTempFileName

(

)

Returns the name of a proposed temporary file name.

Definition at line 283 of file filesystem.cpp.

References ASSERT_.

Referenced by mrpt::io::zip::decompress_gz_data_block(), generic_icp_slam_test(), generic_kf_slam_test(), generic_pf_test(), generic_rbpf_slam_test(), run_rnav_test(), and TEST().

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renameFile()

bool mrpt::system::renameFile	(	const std::string &	oldFileName,
		const std::string &	newFileName,
		std::string *	error_msg = nullptr
	)

Renames a file - If the target path is different and the filesystem allows it, it will be moved to the new location.

Returns

false on any error. In that case, if a pointer to a receiver string is passed in error_msg, a description of the error is saved there.

Definition at line 309 of file filesystem.cpp.

Referenced by CGraphSlamHandler< GRAPH_T >::initOutputDir().

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