CommonIface.hh
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1 /*
2  * Copyright (C) 2012-2015 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 
18 #ifndef _COMMONIFACE_HH_
19 #define _COMMONIFACE_HH_
20 
21 #include <string>
22 #include <vector>
23 #include <boost/uuid/sha1.hpp>
24 #include <iomanip>
25 #include <sstream>
26 
27 #include "gazebo/util/system.hh"
28 
29 namespace gazebo
30 {
31  namespace common
32  {
35 
38  void load();
39 
43  void add_search_path_suffix(const std::string &_suffix);
44 
49  std::string find_file(const std::string &_file);
50 
57  std::string find_file(const std::string &_file,
58  bool _searchLocalPath);
59 
64  std::string find_file_path(const std::string &_file);
65 
70  template<typename T>
72  std::string get_sha1(const T &_buffer);
73 
75  }
76 
78  // Implementation of get_sha1
79  template<typename T>
81  std::string common::get_sha1(const T &_buffer)
82  {
83  boost::uuids::detail::sha1 sha1;
84  unsigned int hash[5];
85  std::stringstream stream;
86 
87  if (_buffer.size() == 0)
88  {
89  sha1.process_bytes(NULL, 0);
90  }
91  else
92  {
93  sha1.process_bytes(&(_buffer[0]), _buffer.size() * sizeof(_buffer[0]));
94  }
95 
96  sha1.get_digest(hash);
97 
98  for (std::size_t i = 0; i < sizeof(hash) / sizeof(hash[0]); ++i)
99  {
100  stream << std::setfill('0')
101  << std::setw(sizeof(hash[0]) * 2)
102  << std::hex
103  << hash[i];
104  }
105 
106  return stream.str();
107  }
108 }
109 #endif
GAZEBO_VISIBLE void add_search_path_suffix(const std::string &_suffix)
add path sufix to common::SystemPaths
GAZEBO_VISIBLE std::string find_file(const std::string &_file)
search for file in common::SystemPaths
GAZEBO_VISIBLE std::string find_file_path(const std::string &_file)
search for a file in common::SystemPaths
GAZEBO_VISIBLE void load()
Load the common library.
#define NULL
Definition: CommonTypes.hh:30
GAZEBO_VISIBLE std::string get_sha1(const T &_buffer)
Compute the SHA1 hash of an array of bytes.
Definition: CommonIface.hh:81
#define GAZEBO_VISIBLE
Use to represent "symbol visible" if supported.
Definition: system.hh:48