iointerfacefile.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#include "iointerfacefile.h"
 
#include <errno.h>
#ifndef _WIN32
#include <unistd.h>  // close
#include <sys/ioctl.h>  // ioctl
#include <fcntl.h>  // open, O_RDWR
#include <string.h>  // strcpy
#include <sys/param.h>
#include <sys/stat.h>
#include <stdarg.h>
#else
#include <winbase.h>
#include <sys/stat.h>
#include <io.h>
#endif
 
#ifndef _CRT_SECURE_NO_DEPRECATE
#define _CRT_SECURE_NO_DEPRECATE
#ifdef _WIN32
#pragma warning(disable : 4996)
#endif
#endif
 
// lint -emacro(534, FSEEK, FSEEK_R)
// lint -emacro({534}, FSEEK, FSEEK_R)
#ifdef _WIN32
#define FSEEK(x) _fseeki64(m_handle, x, SEEK_SET)
#define FSEEK_R(x) _fseeki64(m_handle, x, SEEK_END)
#define FTELL() _ftelli64(m_handle)
#else
#define FSEEK(x) fseeko(m_handle, x, SEEK_SET)
#define FSEEK_R(x) fseeko(m_handle, x, SEEK_END)
#define FTELL() ftello(m_handle)
#endif
 
// maybe log to nothing at this level
#ifdef LOG_CMT1
#include "xslog.h"
#define XDA1LOG_OBSOLETE XSENSLOG
#else
#define XDA1LOG_OBSOLETE(...) (void)0
#endif
 
//////////////////////////////////////////////////////////////////////////////////////////
///////////////////////////////////////// IoInterfaceFile
////////////////////////////////////////////
//////////////////////////////////////////////////////////////////////////////////////////
 
/*! Default constructor, initializes all members to their default values.
*/
IoInterfaceFile::IoInterfaceFile()
{
    m_readPos = 0;
    m_writePos = 0;
    m_lastResult = XRV_OK;
    m_reading = true;
    m_fileSize = 0;
    m_readOnly = false;
    m_handle = 0;
}
 
/*! Destructor
*/
IoInterfaceFile::~IoInterfaceFile()
{
    try
    {
        closeFile();  // lint !e534
    }
    catch (...)
    {
    }
}
 
/*! \brief Write data to the end of the file.
    \details The function writes the given data to the file at the end. The
   current write
    position is also moved to the end of the file.
    \param bdata The byte data to append to the file
    \returns XRV_OK if the write was successful
*/
XsResultValue IoInterfaceFile::appendData(const XsByteArray& bdata)
{
    if (!m_handle) return m_lastResult = XRV_NOFILEOPEN;
    if (m_readOnly) return m_lastResult = XRV_READONLY;
    if (!bdata.size()) return m_lastResult = XRV_OK;
 
    if (m_reading || m_writePos != m_fileSize)
    {
        m_reading = false;
        FSEEK_R(0);  // lint !e534
    }
    size_t bytesWritten = fwrite(bdata.data(), 1, bdata.size(), m_handle);
    (void)bytesWritten;
    m_writePos = FTELL();
    m_fileSize = m_writePos;
 
    return (m_lastResult = XRV_OK);
}
 
//////////////////////////////////////////////////////////////////////////////////////////
/*! \brief Close the file, overrides IoInterface::close().
    \returns XRV_OK if the file was closed successfully
*/
XsResultValue IoInterfaceFile::close(void) { return closeFile(); }
/*! \brief Close the file.
    \returns XRV_OK if the file was closed successfully
*/
XsResultValue IoInterfaceFile::closeFile(void)
{
    if (m_handle)
    {
#ifdef _WIN32
        fflush(m_handle);
        fclose(m_handle);
#else
        ::fflush(m_handle);
        ::fclose(m_handle);
#endif
    }
    m_readPos = 0;
    m_writePos = 0;
    m_reading = true;
    m_fileSize = 0;
    m_readOnly = false;
    m_handle = 0;
 
    return m_lastResult = XRV_OK;
}
 
/*! \brief Close the file and delete it.
    \returns XRV_OK if the file was closed and deleted successfully
*/
XsResultValue IoInterfaceFile::closeAndDelete(void)
{
    if (m_handle)
    {
#ifdef _WIN32
        fflush(m_handle);
        fclose(m_handle);
#else
        ::fflush(m_handle);
        ::fclose(m_handle);
#endif
        if (m_readOnly)
            m_lastResult = XRV_READONLY;
        else
        {
#ifdef _WIN32
            if (_wunlink(m_filename.toStdWString().c_str()) != 0)
#else
            if (unlink(m_filename.c_str()) != 0)
#endif
                m_lastResult = XRV_READONLY;
            else
                m_lastResult = XRV_OK;
        }
    }
    else
        m_lastResult = XRV_NOFILEOPEN;
 
    m_readPos = 0;
    m_writePos = 0;
    m_reading = true;
    m_fileSize = 0;
    m_readOnly = false;
    m_handle = 0;
 
    return m_lastResult;
}
 
/*! \brief Create an empty file
    \param filename The desired (path+)name of the file
    \returns XRV_OK if the file was created successfully
*/
XsResultValue IoInterfaceFile::create(const XsString& filename)
{
    if (m_handle) return m_lastResult = XRV_ALREADYOPEN;
 
//! \test does this work for non-existing files? Or do we need a check and
//! create?
#ifdef _WIN32
    m_handle = _wfopen(
        filename.toStdWString().c_str(), L"w+b");  // open for update (r/w)
#else
    m_handle = fopen(filename.c_str(), "w+b");  // open for update (r/w)
#endif
    if (m_handle == nullptr) return m_lastResult = XRV_OUTPUTCANNOTBEOPENED;
 
    bool fail = false;
#ifdef _WIN32
    wchar_t fullpath[XS_MAX_FILENAME_LENGTH];
    if (_wfullpath(
            fullpath, filename.toStdWString().c_str(),
            XS_MAX_FILENAME_LENGTH) == nullptr)
        fail = true;
#else
    // based on the assumption that this doesn't concern the serial port, handle
    // it the same way using realpath(). Apparently realpath() doesn't require a
    // maximum length. One would possibly want to write a wrapper for it.
    char fullpath[XS_MAX_FILENAME_LENGTH * 2];
    if (realpath(filename.c_str(), fullpath) == nullptr) fail = true;
#endif
    m_filename = XsString(fullpath);
 
    if (fail)
    {
        fclose(m_handle);
#ifdef _WIN32
        _wunlink(m_filename.toStdWString().c_str());
#else
        unlink(m_filename.c_str());
#endif
        m_handle = 0;
        return m_lastResult = XRV_INVALIDPARAM;
    }
 
    m_readPos = 0;
    m_writePos = 0;
    m_fileSize = 0;
    m_reading = true;
    m_readOnly = false;
    return m_lastResult = XRV_OK;
}
 
/*! \brief Delete the given data from the file.
    \details The function erases the given data from the file at the given write
   position. This
    operation may take a while to complete, but is faster than insertData.
 
    The write position is not changed and the read position is checked for
   validity upon function exit.
    \param start The offset of the first byte to delete
    \param length The total number of bytes to delete
    \returns XRV_OK if the data was deleted successfully
*/
XsResultValue IoInterfaceFile::deleteData(XsFilePos start, XsSize length)
{
    if (!m_handle) return m_lastResult = XRV_NOFILEOPEN;
    if (m_readOnly) return m_lastResult = XRV_READONLY;
 
    gotoWrite();
 
    XsFilePos wPos = start;
    XsFilePos rPos = wPos + length;
 
    size_t read1;
    XsFilePos endPos = (start + (XsFilePos)length);
    if (endPos < m_fileSize)
    {
        XsFilePos remaining = m_fileSize - endPos;
        char buffer[512];
 
        // copy data
        FSEEK(rPos);
 
        while (remaining > 0)
        {
            if (remaining >= 512)
                read1 = fread(buffer, 1, 512, m_handle);
            else
                read1 = fread(buffer, 1, (size_t)remaining, m_handle);
 
            remaining -= read1;
            rPos += read1;
 
            // write block to the correct position
            FSEEK(wPos);
            wPos += fwrite(buffer, 1, read1, m_handle);
            FSEEK(rPos);
        }
        m_fileSize -= length;
    }
    else
    {
        m_fileSize = start;
    }
 
#ifdef _WIN32
    int32_t rv = _chsize(_fileno(m_handle), (int32_t)m_fileSize);
#else
    int32_t rv = ftruncate(fileno(m_handle), (int32_t)m_fileSize);
#endif
    int32_t eno = 0;
    if (rv != 0) eno = errno;
    m_writePos = start;
    FSEEK(wPos);
    if (rv != 0)
    {
        switch (eno)
        {
            case EACCES:
                return m_lastResult = XRV_BUSY;
            case EBADF:
                return m_lastResult = XRV_INVALIDINSTANCE;
            case ENOSPC:
                return m_lastResult = XRV_OUTOFMEMORY;
            case EINVAL:
                return m_lastResult = XRV_INVALIDPARAM;
            default:
                return m_lastResult = XRV_ERROR;
        }
    }
 
    return m_lastResult = XRV_OK;
}
 
/*! \brief Find a string of bytes in the file
    \details The function searches from the current read position until the
   given \c needle is
    found. If the needle is not found, XsResultValue::NOT_FOUND is returned. The
   function
    will update the seek position to the first character of the found needle.
    \param needleV  The byte string to find.
    \param pos  The position where \a needleV was found. This will point to
   the first character
                of the found \a needleV.
    \returns XRV_OK if the data was found, XRV_ENDOFFILE if it wasn't found
*/
XsResultValue IoInterfaceFile::find(const XsByteArray& needleV, XsFilePos& pos)
{
    if (!m_handle) return m_lastResult = XRV_NOFILEOPEN;
 
    XsSize needleLength = needleV.size();
 
    pos = 0;
    if (needleLength == 0) return m_lastResult = XRV_OK;
 
    const char* needle = (const char*)needleV.data();
 
    gotoRead();
 
    char buffer[512];
    uint32_t bufferPos, needlePos = 0;
    size_t readBytes;
    if (m_readPos & 0x1FF)  // read a block of data
        readBytes =
            fread(buffer, 1, (512 - ((size_t)m_readPos & 0x1FF)), m_handle);
    else
        readBytes = fread(buffer, 1, 512, m_handle);  // read a block of data
 
    while (readBytes > 0)
    {
        m_readPos += readBytes;
        bufferPos = 0;
 
        while (bufferPos < readBytes && needlePos < needleLength)
        {
            if (buffer[bufferPos] == needle[needlePos])
            {
                // found a byte
                ++needlePos;
            }
            else
            {
                if (needlePos > 0)
                    needlePos = 0;
                else if (buffer[bufferPos] == needle[0])
                {
                    // found a byte
                    needlePos = 1;
                }
            }
            ++bufferPos;
        }
        if (needlePos < needleLength)
            readBytes = fread(buffer, 1, 512, m_handle);  // read next block
        else
        {
            m_readPos = m_readPos + bufferPos - readBytes -
                        needleLength;  // or without needleLength
            pos = m_readPos;  // - needleLength;
            FSEEK(m_readPos);
            return m_lastResult = XRV_OK;
        }
    }
    return m_lastResult = XRV_ENDOFFILE;
}
 
/*! \brief Return the size of the file.
    \returns The size of the file.
*/
XsFilePos IoInterfaceFile::getFileSize(void) const { return m_fileSize; }
/*! \brief Return the creation date of the file
    \returns The creation date of the file
*/
XsTimeStamp IoInterfaceFile::getFileDate(void) const
{
#ifdef _WIN32
    struct _stat stats;
    if (_wstat(m_filename.toStdWString().c_str(), &stats) == 0)
#else
    struct stat stats;
    if (stat(m_filename.c_str(), &stats) == 0)
#endif
    {
        XsTimeStamp t = XsTimeStamp((int64_t)stats.st_mtime * 1000);
        return t;
    }
    return XsTimeStamp();
}
 
/*! \copydoc IoInterface::flushData */
XsResultValue IoInterfaceFile::flushData(void)
{
    fflush(m_handle);
 
    return m_lastResult = XRV_OK;
}
 
/*! \brief Retrieve the filename that was last successfully opened.
 
    \param filename The XsString which will contain the filename.
    \returns XRV_OK
*/
XsResultValue IoInterfaceFile::getName(XsString& filename) const
{
    filename = m_filename;
    return m_lastResult = XRV_OK;
}
 
//! \brief Change from writing to reading mode
void IoInterfaceFile::gotoRead(void)
{
    if (m_reading) return;
 
    fflush(m_handle);
    FSEEK(m_readPos);
    m_reading = true;
}
 
//! \brief Change from reading to writing mode
void IoInterfaceFile::gotoWrite(void)
{
    if (!m_reading) return;
 
    fflush(m_handle);
    FSEEK(m_writePos);
    m_reading = false;
}
 
/*! \brief Insert the given data into the file.
    \details The function writes the given data to the file at the current write
   position. This
    operation may take a while to complete.
 
    The write position is placed at the end of the inserted data.
    \param start The offset in the file to write the first byte
    \param data The data to insert in the file
    \returns XRV_OK if the data was inserted successfully
*/
XsResultValue IoInterfaceFile::insertData(
    XsFilePos start, const XsByteArray& data)
{
    if (!m_handle) return m_lastResult = XRV_NOFILEOPEN;
    if (m_readOnly) return m_lastResult = XRV_READONLY;
 
    gotoWrite();
 
    XsSize length = data.size();
    XsFilePos rPos = start;
    XsFilePos wPos = rPos + length;
 
    size_t read1, read2;
    XsFilePos remaining = m_fileSize - start;
    size_t bsize = (length > 512) ? length : 512;
    char* bufferRoot = (char*)malloc(bsize * 2);
    if (!bufferRoot) return XRV_OUTOFMEMORY;
    char* buffer1 = bufferRoot;
    char* buffer2 = bufferRoot + bsize;
    char* btemp;
 
    // copy data
    FSEEK(rPos);
 
    if (data.size() == 0) return m_lastResult = XRV_OK;
 
    if (remaining >= (XsFilePos)bsize)
        read1 = fread(buffer1, 1, bsize, m_handle);
    else
        read1 = fread(buffer1, 1, (size_t)remaining, m_handle);
 
    remaining -= read1;
    rPos += read1;
 
    while (remaining > 0)
    {
        // move data to correct buffer
        read2 = read1;
        btemp = buffer1;
        buffer1 = buffer2;
        buffer2 = btemp;
 
        // read next block
        if (remaining >= (XsFilePos)bsize)
            read1 = fread(buffer1, 1, bsize, m_handle);
        else
            read1 = fread(buffer1, 1, (size_t)remaining, m_handle);
 
        remaining -= read1;
        rPos += read1;
 
        // write block to the correct position
        FSEEK(wPos);
        wPos += fwrite(buffer2, 1, read2, m_handle);
        FSEEK(rPos);
    }
 
    FSEEK(wPos);
    wPos += fwrite(buffer1, 1, read1, m_handle);
 
    FSEEK(start);
    m_writePos = start + fwrite(data.data(), 1, length, m_handle);
    m_fileSize += length;
 
    free(bufferRoot);
    return m_lastResult = XRV_OK;
}
 
/*! \brief Open a file.
    \param filename The name of the file to open
    \param createNew When true, the file will be created if it doesn't exist yet
    \param readOnly When true, the file will be marked as read only for
   %IoInterfaceFile,
            preventing accidental writes to the file.
    \returns XRV_OK if the file was opened successfully
    \sa createFile
*/
XsResultValue IoInterfaceFile::open(
    const XsString& filename, bool createNew, bool readOnly)
{
    if (m_handle) return m_lastResult = XRV_ALREADYOPEN;
 
    //! \test does this work for non-existing files? Or do we need a check and
    //! create?
    m_readOnly = readOnly;
    if (readOnly)
#ifdef _WIN32
        m_handle = _wfopen(
            filename.toStdWString().c_str(), L"rb");  // open for read only (r)
#else
        m_handle = fopen(filename.c_str(), "rb");  // open for read only (r)
#endif
    else
#ifdef _WIN32
        m_handle = _wfopen(
            filename.toStdWString().c_str(), L"r+b");  // open for update (r/w)
#else
        m_handle = fopen(filename.c_str(), "r+b");  // open for update (r/w)
#endif
    if (m_handle == nullptr)
    {
        if (createNew)
#ifdef _win32
            m_handle = _wfopen(
                filename.toStdWString().c_str(),
                L"w+b");  // create for update (r/w)
#else
            m_handle =
                fopen(filename.c_str(), "w+b");  // create for update (r/w)
#endif
        else
        {
#ifdef _WIN32
            m_handle = _wfopen(
                filename.toStdWString().c_str(),
                L"rb");  // open for read only (r)
#else
            m_handle = fopen(filename.c_str(), "rb");  // open for read only (r)
#endif
            m_readOnly = true;
        }
    }
    if (m_handle == nullptr) return m_lastResult = XRV_INPUTCANNOTBEOPENED;
 
    bool fail = false;
#ifdef _WIN32
    wchar_t fullpath[XS_MAX_FILENAME_LENGTH];
    if (_wfullpath(
            fullpath, filename.toStdWString().c_str(),
            XS_MAX_FILENAME_LENGTH) == nullptr)
        fail = true;
#else
    // use the same trick again.
    char fullpath[XS_MAX_FILENAME_LENGTH * 2];
    if (realpath(filename.c_str(), fullpath) == nullptr) fail = true;
#endif
    m_filename = XsString(fullpath);
 
    if (fail)
    {
        fclose(m_handle);
        m_handle = 0;
        return m_lastResult = XRV_INVALIDPARAM;
    }
 
    m_readPos = 0;
    m_writePos = 0;
    m_reading = true;
    FSEEK_R(0);
    m_fileSize = FTELL();
    FSEEK(0);
    return (m_lastResult = XRV_OK);
}
 
/*! \copydoc IoInterface::readData
    \note This function reads exactly the number of bytes as requested from the
   file unless the end
    of file boundary is encountered.
*/
XsResultValue IoInterfaceFile::readData(XsSize maxLength, XsByteArray& data)
{
    if (!m_handle) return m_lastResult = XRV_NOFILEOPEN;
 
    if (maxLength == 0)
    {
        data.clear();
        return m_lastResult = XRV_OK;
    }
 
    XsSize length;
 
    gotoRead();
    data.setSize(maxLength);
 
    length = fread(data.data(), 1, maxLength, m_handle);
    if (feof(m_handle))
    {
        data.clear();
        return (m_lastResult = XRV_ENDOFFILE);
    }
 
    m_readPos += length;
    if (length < maxLength) data.pop_back(maxLength - length);
    return m_lastResult = XRV_OK;
}
 
/*! \brief Read data from the file and put it into the data buffer.
 
    This function reads upp to the number of bytes as requested from the file.
    The function will also stop if the given terminator character is
   encountered.
    The terminator is included in the output buffer.
    \param maxLength    The amount of data that will be read.
    \param terminator   A character that will end the read operation if
   encountered.
    \param bdata        A buffer that will store the read data.
    \returns XRV_OK if the data was read successfully
*/
XsResultValue IoInterfaceFile::readTerminatedData(
    XsSize maxLength, unsigned char terminator, XsByteArray& bdata)
{
    if (!m_handle) return m_lastResult = XRV_NOFILEOPEN;
 
    if (maxLength == 0)
    {
        bdata.clear();
        return m_lastResult = XRV_OK;
    }
 
    bdata.setSize(maxLength);
    char* data = (char*)bdata.data();
 
    XsSize length;
    int32_t readChar;
 
    gotoRead();
 
    length = 0;
    readChar = (uint32_t)fgetc(m_handle);
 
    while (!feof(m_handle) && !ferror(m_handle))
    {
        data[length] = (char)readChar;
        ++length;
        ++m_readPos;
 
        if (length >= maxLength) return m_lastResult = XRV_OK;
        if ((unsigned char)readChar == terminator)
        {
            bdata.pop_back(maxLength - length);
            return m_lastResult = XRV_OK;
        }
    }
    bdata.pop_back(maxLength - length);
    return m_lastResult = XRV_ENDOFFILE;
}
 
/*! \brief Set the new absolute read position
    \details The read position is checked against the filesize first.
    \param pos The new read position
    \returns XRV_OK if the read position was updated successfully
*/
XsResultValue IoInterfaceFile::setReadPosition(XsFilePos pos)
{
    if (!m_handle) return m_lastResult = XRV_NOFILEOPEN;
 
    if (m_readPos != pos)
    {
        m_readPos = pos;
        if (m_reading) FSEEK(m_readPos);
    }
 
    return m_lastResult = XRV_OK;
}
 
/*! \brief Set the new absolute write position
    \details The write position is checked against the filesize first.
    \param pos The new write position
    \returns XRV_OK if the write position was updated successfully
*/
XsResultValue IoInterfaceFile::setWritePosition(XsFilePos pos)
{
    if (!m_handle) return m_lastResult = XRV_NOFILEOPEN;
    if (m_readOnly) return m_lastResult = XRV_READONLY;
 
    if (pos == -1)
    {
        if (m_reading) m_reading = false;
        FSEEK_R(0);
        m_writePos = FTELL();
    }
    else
    {
        if (m_writePos != pos)
        {
            m_writePos = pos;
            if (!m_reading) FSEEK(m_writePos);
        }
    }
 
    return m_lastResult = XRV_OK;
}
 
/*! \copydoc IoInterface::writeData
    \note The function writes the given data to the file at the current write
   position.
*/
XsResultValue IoInterfaceFile::writeData(
    const XsByteArray& data, XsSize* written)
{
    if (!m_handle) return m_lastResult = XRV_NOFILEOPEN;
    if (m_readOnly) return m_lastResult = XRV_READONLY;
 
    size_t length = data.size();
    if (length == 0) return m_lastResult = XRV_OK;
 
    gotoWrite();
    size_t writeRes = fwrite(data.data(), 1, length, m_handle);
    if (writeRes == (size_t)EOF || writeRes < length)
    {
        int32_t err = (int32_t)errno;
        switch (err)
        {
            case 0:
                break;
            case ENOSPC:
                return m_lastResult = XRV_INSUFFICIENTSPACE;
            case ENOMEM:
                return m_lastResult = XRV_OUTOFMEMORY;
            default:
                return m_lastResult = XRV_ERROR;
        }
    }
    m_writePos += writeRes;
    if (written) *written = (uint32_t)writeRes;
 
    if (m_writePos > m_fileSize) m_fileSize = m_writePos;
 
    return m_lastResult = XRV_OK;
}
 
/*! \brief Return the current read position.
    \returns The current read position.
*/
XsFilePos IoInterfaceFile::getReadPosition(void) const { return m_readPos; }
/*! \brief Return the current write position.
    \returns The current write position.
*/
XsFilePos IoInterfaceFile::getWritePosition(void) const { return m_writePos; }
/*! \brief Return the result code of the last operation.
    \returns The result code of the last operation.
*/
XsResultValue IoInterfaceFile::getLastResult(void) const
{
    return m_lastResult;
}
 
/*! \brief Return whether the file is open or not.
    \returns true if the file is open
*/
bool IoInterfaceFile::isOpen(void) const { return m_handle != nullptr; }
/*! \brief Return whether the file is readonly or not.
    \returns true if the file is readonly
*/
bool IoInterfaceFile::isReadOnly(void) const { return !isOpen() || m_readOnly; }