Fix build errors in examples after atomic-bomb refactor of mrpt-base (M…

…RPT#651)

* all examples: deps and names clean up
* fix examples build errors (MRPT#643)
* executeCommand()  and Ping() fixed and tested on Windows
* TParameter.h: fix build under MSVC

libs/bayes/include/mrpt/bayes/CParticleFilterData.h

@@ -10,7 +10,9 @@
 
 #include <mrpt/bayes/CProbabilityParticle.h>
 #include <mrpt/bayes/CParticleFilterCapable.h>
-
+#include <mrpt/core/exceptions.h>
+#include <mrpt/core/bits_math.h>
+#include <cmath>
 #include <deque>
 #include <algorithm>
 
@@ -79,7 +81,7 @@ struct CParticleFilterDataImpl : public CParticleFilterCapable
 		if (out_max_log_w) *out_max_log_w = maxW;
 
 		/* Return the max/min ratio: */
-		return exp(maxW - minW);
+		return std::exp(maxW - minW);
 		MRPT_END
 	}
 
@@ -93,12 +95,12 @@ struct CParticleFilterDataImpl : public CParticleFilterCapable
 		for (typename particle_list_t::const_iterator it =
 				 derived().m_particles.begin();
 			 it != derived().m_particles.end(); ++it)
-			sumLinearWeights += exp(it->log_w);
+			sumLinearWeights += std::exp(it->log_w);
 		/* Compute ESS: */
 		for (typename particle_list_t::const_iterator it =
 				 derived().m_particles.begin();
 			 it != derived().m_particles.end(); ++it)
-			cum += mrpt::square(exp(it->log_w) / sumLinearWeights);
+			cum += mrpt::square(std::exp(it->log_w) / sumLinearWeights);
 
 		if (cum == 0)
 			return 0;

libs/comms/include/mrpt/comms/net_utils.h

@@ -131,7 +131,7 @@ std::string getLastSocketErrorStr();
  *
  */
 bool Ping(
-	const std::string& address, const int& max_attempts,
+	const std::string& address, const int max_attempts,
 	std::string* output_str = NULL);
 
 /** @} */  // end grouping

libs/comms/src/net_utils.cpp

@@ -494,34 +494,34 @@ std::string mrpt::comms::net::getLastSocketErrorStr()
 #endif
 }
 
-MRPT_TODO("Modify ping to run on Windows + Test this");
 bool mrpt::comms::net::Ping(
-	const std::string& address, const int& max_attempts,
+	const std::string& address, const int max_attempts,
 	std::string* output_str /*=NULL*/)
 {
 	using namespace std;
 
 	// Format a command string
 	string cmd_str = "ping";
 
-// different "count" argument for Windows and *NIX  systems
+	// different "count" argument for Windows and *NIX  systems
 #if defined(MRPT_OS_LINUX) || defined(__APPLE__)
-	string count_arg_str = "-c " + std::to_string(max_attempts);
+	cmd_str += " -c ";
 #else
-	THROW_EXCEPTION("Ping not implemented on Windows Yet.");
-
-	string count_arg_str = "-n " + std::to_string(max_attempts);
+	cmd_str += " -n ";
 #endif
+	cmd_str += std::to_string(max_attempts);
 
-	string redirection_str = "2>&1";
+	// Address:
+	cmd_str += " ";
+	cmd_str += address;
 
-	// Join the command subparts
-	string cmd_full_str = mrpt::format(
-		"%s %s %s %s", cmd_str.c_str(), count_arg_str.c_str(), address.c_str(),
-		redirection_str.c_str());
+	// Redirection:
+#if defined(MRPT_OS_LINUX) || defined(__APPLE__)
+	cmd_str += " 2>&1";
+#endif
 
 	// Finally exec the command
-	int code = executeCommand(cmd_full_str, output_str);
+	int code = executeCommand(cmd_str, output_str);
 
 	return (code == 0);
 }

libs/comms/src/sockets_unittest.cpp

@@ -11,7 +11,7 @@
 
 // Reuse code from example:
 //#define SOCKET_TEST_VERBOSE
-#include "samples/SocketsTest/SocketsTest_impl.cpp"
+#include "samples/comms_socket_example/SocketsTest_impl.cpp"
 
 TEST(SocketTests, send_receive_object)
 {

libs/graphs/include/mrpt/graphs/CDirectedTree.h

@@ -178,7 +178,7 @@ class CDirectedTree
 			: public mrpt::graphs::CDirectedTree<TYPE_EDGES>::Visitor
 		{
 			std::stringstream& m_s;
-			CMyVisitor(std::ostringstream& s) : m_s(s) {}
+			CMyVisitor(std::stringstream& s) : m_s(s) {}
 			virtual void OnVisitNode(
 				const TNodeID parent,
 				const typename mrpt::graphs::CDirectedTree<

libs/io/include/mrpt/io/CFileStream.h

@@ -38,10 +38,6 @@ enum
  */
 class CFileStream : public CStream
 {
-   protected:
-	size_t Read(void* Buffer, size_t Count) override;
-	size_t Write(const void* Buffer, size_t Count) override;
-
    private:
 	/** The actual input file stream. */
 	std::fstream m_f;
@@ -66,13 +62,16 @@ class CFileStream : public CStream
 	/** Destructor */
 	virtual ~CFileStream();
 
+	size_t Read(void* Buffer, size_t Count) override;
+	size_t Write(const void* Buffer, size_t Count) override;
+
 	/** Opens the file, returning true on success.
-	  * \param fileName The file to be open in this stream
-	  * \param mode The open mode: can be an or'd conbination of different
+	 * \param fileName The file to be open in this stream
+	 * \param mode The open mode: can be an or'd conbination of different
 	 * values.
-	  *  By default the file is opened for open and write and created if not
+	 *  By default the file is opened for open and write and created if not
 	 * found.
-	  */
+	 */
 	bool open(
 		const std::string& fileName, TFileOpenModes mode = fomRead | fomWrite);
 	/** Closes the file */
@@ -97,9 +96,9 @@ class CFileStream : public CStream
 	uint64_t getPositionO();
 
 	/** Reads one string line from the file (until a new-line character)
-	  * \return true if a line has been read, false on EOF or error */
+	 * \return true if a line has been read, false on EOF or error */
 	bool readLine(std::string& str);
 
 };  // End of class def.
-}  // End of namespace
-}  // end of namespace
+}  // namespace io
+}  // namespace mrpt

libs/system/include/mrpt/system/TParameters.h

@@ -15,6 +15,7 @@
 #include <sstream>
 #include <iostream>
 #include <stdexcept>
+#include <algorithm> // std::max
 #include <mrpt/config.h>
 #include <mrpt/core/common.h>  // Disable MSVC warning 4251 in this class
 
@@ -131,15 +132,13 @@ struct TParameters : public std::map<std::string, T>
 	void getAsString(std::string& s) const
 	{
 		size_t maxStrLen = 10;
-		for (typename BASE::const_iterator it = BASE::begin();
-			 it != BASE::end(); ++it)
-			maxStrLen = std::max(maxStrLen, it->first.size());
+		for (const auto & e : *this)
+			maxStrLen = std::max(maxStrLen, e.first.size());
 		maxStrLen++;
 		std::stringstream str;
-		for (typename BASE::const_iterator it = BASE::begin();
-			 it != BASE::end(); ++it)
-			str << it->first << std::string(maxStrLen - it->first.size(), ' ')
-				<< " = " << it->second << std::endl;
+		for (const auto & e : *this)
+			str << e.first << std::string(maxStrLen - e.first.size(), ' ')
+				<< " = " << e.second << std::endl;
 		s = str.str();
 	}
 };

libs/system/src/os.cpp

@@ -551,53 +551,43 @@ const std::string& mrpt::system::getMRPTLicense()
 	return sLicenseText;
 }
 
-/*---------------------------------------------------------------
+#ifdef _WIN32
+std::string winerror2str(const char* errorPlaceName)
+{
+	char str[700];
+	DWORD e = GetLastError();
+	FormatMessageA(
+		FORMAT_MESSAGE_FROM_SYSTEM, 0, e, 0, str, sizeof(str), NULL);
+	std::string s;
+	s = "[";
+	s += errorPlaceName;
+	s += "] Error: ";
+	s += str;
+	return s;
+}
+#endif
 
+/*---------------------------------------------------------------
 launchProcess
-
 ---------------------------------------------------------------*/
-
 bool mrpt::system::launchProcess(const std::string& command)
-
 {
 #ifdef _WIN32
-
 	STARTUPINFOA SI;
-
 	PROCESS_INFORMATION PI;
-
 	memset(&SI, 0, sizeof(STARTUPINFOA));
-
 	SI.cb = sizeof(STARTUPINFOA);
-
 	if (CreateProcessA(
 			NULL, (LPSTR)command.c_str(), NULL, NULL, true, 0, NULL, NULL, &SI,
 			&PI))
-
 	{
 		// Wait:
-
 		WaitForSingleObject(PI.hProcess, INFINITE);
-
 		return true;
-
 	}  // End of process executed OK
-
 	else
-
 	{
-		char str[300];
-
-		DWORD e = GetLastError();
-
-		FormatMessageA(
-			FORMAT_MESSAGE_FROM_SYSTEM, 0, e, 0, str, sizeof(str), NULL);
-
-		// ERROR:
-
-		std::cerr << "[launchProcess] Couldn't spawn process. Error msg: "
-				  << str << std::endl;
-
+		std::cerr << winerror2str("launchProcess");
 		return false;
 	}
 
@@ -667,6 +657,7 @@ int mrpt::system::executeCommand(
 
 	// Create the stringstream
 	stringstream sout;
+	int exit_code = -1;
 
 #ifdef MRPT_OS_LINUX
 	// Run Popen
@@ -689,8 +680,117 @@ int mrpt::system::executeCommand(
 	}
 
 	// Close
-	int exit_code = pclose(in);
+	exit_code = pclose(in);
+#else
+	try
+	{
+		exit_code = -1;
+
+		HANDLE g_hChildStd_IN_Rd = NULL;
+		HANDLE g_hChildStd_IN_Wr = NULL;
+		HANDLE g_hChildStd_OUT_Rd = NULL;
+		HANDLE g_hChildStd_OUT_Wr = NULL;
+
+		HANDLE g_hInputFile = NULL;
+		SECURITY_ATTRIBUTES saAttr;
+		// Set the bInheritHandle flag so pipe handles are inherited.
+		saAttr.nLength = sizeof(SECURITY_ATTRIBUTES);
+		saAttr.bInheritHandle = TRUE;
+		saAttr.lpSecurityDescriptor = NULL;
+		// Create a pipe for the child process's STDOUT.
+		if (!CreatePipe(&g_hChildStd_OUT_Rd, &g_hChildStd_OUT_Wr, &saAttr, 0))
+			throw winerror2str("StdoutRd CreatePipe");
+
+		// Ensure the read handle to the pipe for STDOUT is not inherited.
+
+		if (!SetHandleInformation(g_hChildStd_OUT_Rd, HANDLE_FLAG_INHERIT, 0))
+			throw winerror2str("Stdout SetHandleInformation");
+
+		// Create a pipe for the child process's STDIN. 
+
+		if (!CreatePipe(&g_hChildStd_IN_Rd, &g_hChildStd_IN_Wr, &saAttr, 0))
+			throw winerror2str("Stdin CreatePipe");
+
+		// Ensure the write handle to the pipe for STDIN is not inherited. 
+
+		if (!SetHandleInformation(g_hChildStd_IN_Wr, HANDLE_FLAG_INHERIT, 0))
+			throw winerror2str("Stdin SetHandleInformation");
+
+		// Create the child process:
+		PROCESS_INFORMATION piProcInfo;
+		STARTUPINFOA siStartInfo;
+		BOOL bSuccess = FALSE;
+
+		// Set up members of the PROCESS_INFORMATION structure. 
+
+		ZeroMemory(&piProcInfo, sizeof(PROCESS_INFORMATION));
+
+		// Set up members of the STARTUPINFO structure. 
+		// This structure specifies the STDIN and STDOUT handles for redirection.
+
+		ZeroMemory(&siStartInfo, sizeof(STARTUPINFO));
+		siStartInfo.cb = sizeof(STARTUPINFO);
+		siStartInfo.hStdError = g_hChildStd_OUT_Wr;
+		siStartInfo.hStdOutput = g_hChildStd_OUT_Wr;
+		siStartInfo.hStdInput = g_hChildStd_IN_Rd;
+		siStartInfo.dwFlags |= STARTF_USESTDHANDLES;
+
+		// Create the child process.
+		bSuccess = CreateProcessA(NULL,
+			(LPSTR)command.c_str(),     // command line 
+			NULL,          // process security attributes 
+			NULL,          // primary thread security attributes 
+			TRUE,          // handles are inherited 
+			0,             // creation flags 
+			NULL,          // use parent's environment 
+			NULL,          // use parent's current directory 
+			&siStartInfo,  // STARTUPINFO pointer 
+			&piProcInfo);  // receives PROCESS_INFORMATION 
+
+						   // If an error occurs, exit the application. 
+		if (!bSuccess)
+			throw winerror2str("CreateProcess");
+
+		// Read from pipe that is the standard output for child process.
+		DWORD dwRead;
+		CHAR chBuf[4096];
+		bSuccess = FALSE;
+		DWORD exitval = 0;
+		exit_code = 0;
+		for (;;)
+		{
+			DWORD dwAvailable = 0;
+			PeekNamedPipe(g_hChildStd_OUT_Rd, NULL, NULL, NULL, &dwAvailable, NULL);
+			if (dwAvailable)
+			{
+				bSuccess = ReadFile(g_hChildStd_OUT_Rd, chBuf, sizeof(chBuf), &dwRead, NULL);
+				if (!bSuccess || dwRead == 0) break;
+				sout.write(chBuf, dwRead);
+			}
+			else
+			{
+				// process ended?
+				if (GetExitCodeProcess(piProcInfo.hProcess, &exitval))
+				{
+					if (exitval != STILL_ACTIVE)
+					{
+						exit_code = exitval;
+						break;
+					}
+				}
+			}
+		}
 
+		// Close handles to the child process and its primary thread.
+		CloseHandle(piProcInfo.hProcess);
+		CloseHandle(piProcInfo.hThread);
+	}
+	catch (std::string &errStr)
+	{
+		std::cerr << errStr;
+		return 1; // !=0 means error
+	}
+#endif
 	// set output - if valid pointer given
 	if (output)
 	{
@@ -699,9 +799,4 @@ int mrpt::system::executeCommand(
 
 	// Return exit code
 	return exit_code;
-#else
-	MRPT_TODO("Write popen alternative for Windows")
-	THROW_EXCEPTION("not implemented for Windows yet!");
-#endif
-
 }  // end of executeCommand