Merged robot core

1 files changed, 0 insertions, 745 deletions

diff --git a/cores/robot/WString.cpp b/cores/robot/WString.cpp
deleted file mode 100644
index e462bee..0000000
--- a/cores/robot/WString.cpp
+++ /dev/null
@@ -1,745 +0,0 @@
-/*
-  WString.cpp - String library for Wiring & Arduino
-  ...mostly rewritten by Paul Stoffregen...
-  Copyright (c) 2009-10 Hernando Barragan.  All rights reserved.
-  Copyright 2011, Paul Stoffregen, paul@pjrc.com
-
-  This library is free software; you can redistribute it and/or
-  modify it under the terms of the GNU Lesser General Public
-  License as published by the Free Software Foundation; either
-  version 2.1 of the License, or (at your option) any later version.
-
-  This library is distributed in the hope that it will be useful,
-  but WITHOUT ANY WARRANTY; without even the implied warranty of
-  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
-  Lesser General Public License for more details.
-
-  You should have received a copy of the GNU Lesser General Public
-  License along with this library; if not, write to the Free Software
-  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
-*/
-
-#include "WString.h"
-
-
-/*********************************************/
-/*  Constructors                             */
-/*********************************************/
-
-String::String(const char *cstr)
-{
-	init();
-	if (cstr) copy(cstr, strlen(cstr));
-}
-
-String::String(const String &value)
-{
-	init();
-	*this = value;
-}
-
-String::String(const __FlashStringHelper *pstr)
-{
-	init();
-	*this = pstr;
-}
-
-#ifdef __GXX_EXPERIMENTAL_CXX0X__
-String::String(String &&rval)
-{
-	init();
-	move(rval);
-}
-String::String(StringSumHelper &&rval)
-{
-	init();
-	move(rval);
-}
-#endif
-
-String::String(char c)
-{
-	init();
-	char buf[2];
-	buf[0] = c;
-	buf[1] = 0;
-	*this = buf;
-}
-
-String::String(unsigned char value, unsigned char base)
-{
-	init();
-	char buf[9];
-	utoa(value, buf, base);
-	*this = buf;
-}
-
-String::String(int value, unsigned char base)
-{
-	init();
-	char buf[18];
-	itoa(value, buf, base);
-	*this = buf;
-}
-
-String::String(unsigned int value, unsigned char base)
-{
-	init();
-	char buf[17];
-	utoa(value, buf, base);
-	*this = buf;
-}
-
-String::String(long value, unsigned char base)
-{
-	init();
-	char buf[34];
-	ltoa(value, buf, base);
-	*this = buf;
-}
-
-String::String(unsigned long value, unsigned char base)
-{
-	init();
-	char buf[33];
-	ultoa(value, buf, base);
-	*this = buf;
-}
-
-String::String(float value, int decimalPlaces)
-{
-	init();
-	char buf[33];
-	*this = dtostrf(value, (decimalPlaces + 2), decimalPlaces, buf);
-}
-
-String::String(double value, int decimalPlaces)
-{
-	init();
-	char buf[33];
-	*this = dtostrf(value, (decimalPlaces + 2), decimalPlaces, buf);
-}
-
-String::~String()
-{
-	free(buffer);
-}
-
-/*********************************************/
-/*  Memory Management                        */
-/*********************************************/
-
-inline void String::init(void)
-{
-	buffer = NULL;
-	capacity = 0;
-	len = 0;
-}
-
-void String::invalidate(void)
-{
-	if (buffer) free(buffer);
-	buffer = NULL;
-	capacity = len = 0;
-}
-
-unsigned char String::reserve(unsigned int size)
-{
-	if (buffer && capacity >= size) return 1;
-	if (changeBuffer(size)) {
-		if (len == 0) buffer[0] = 0;
-		return 1;
-	}
-	return 0;
-}
-
-unsigned char String::changeBuffer(unsigned int maxStrLen)
-{
-	char *newbuffer = (char *)realloc(buffer, maxStrLen + 1);
-	if (newbuffer) {
-		buffer = newbuffer;
-		capacity = maxStrLen;
-		return 1;
-	}
-	return 0;
-}
-
-/*********************************************/
-/*  Copy and Move                            */
-/*********************************************/
-
-String & String::copy(const char *cstr, unsigned int length)
-{
-	if (!reserve(length)) {
-		invalidate();
-		return *this;
-	}
-	len = length;
-	strcpy(buffer, cstr);
-	return *this;
-}
-
-String & String::copy(const __FlashStringHelper *pstr, unsigned int length)
-{
-	if (!reserve(length)) {
-		invalidate();
-		return *this;
-	}
-	len = length;
-	strcpy_P(buffer, (const prog_char *)pstr);
-	return *this;
-}
-
-#ifdef __GXX_EXPERIMENTAL_CXX0X__
-void String::move(String &rhs)
-{
-	if (buffer) {
-		if (capacity >= rhs.len) {
-			strcpy(buffer, rhs.buffer);
-			len = rhs.len;
-			rhs.len = 0;
-			return;
-		} else {
-			free(buffer);
-		}
-	}
-	buffer = rhs.buffer;
-	capacity = rhs.capacity;
-	len = rhs.len;
-	rhs.buffer = NULL;
-	rhs.capacity = 0;
-	rhs.len = 0;
-}
-#endif
-
-String & String::operator = (const String &rhs)
-{
-	if (this == &rhs) return *this;
-	
-	if (rhs.buffer) copy(rhs.buffer, rhs.len);
-	else invalidate();
-	
-	return *this;
-}
-
-#ifdef __GXX_EXPERIMENTAL_CXX0X__
-String & String::operator = (String &&rval)
-{
-	if (this != &rval) move(rval);
-	return *this;
-}
-
-String & String::operator = (StringSumHelper &&rval)
-{
-	if (this != &rval) move(rval);
-	return *this;
-}
-#endif
-
-String & String::operator = (const char *cstr)
-{
-	if (cstr) copy(cstr, strlen(cstr));
-	else invalidate();
-	
-	return *this;
-}
-
-String & String::operator = (const __FlashStringHelper *pstr)
-{
-	if (pstr) copy(pstr, strlen_P((const prog_char *)pstr));
-	else invalidate();
-
-	return *this;
-}
-
-/*********************************************/
-/*  concat                                   */
-/*********************************************/
-
-unsigned char String::concat(const String &s)
-{
-	return concat(s.buffer, s.len);
-}
-
-unsigned char String::concat(const char *cstr, unsigned int length)
-{
-	unsigned int newlen = len + length;
-	if (!cstr) return 0;
-	if (length == 0) return 1;
-	if (!reserve(newlen)) return 0;
-	strcpy(buffer + len, cstr);
-	len = newlen;
-	return 1;
-}
-
-unsigned char String::concat(const char *cstr)
-{
-	if (!cstr) return 0;
-	return concat(cstr, strlen(cstr));
-}
-
-unsigned char String::concat(char c)
-{
-	char buf[2];
-	buf[0] = c;
-	buf[1] = 0;
-	return concat(buf, 1);
-}
-
-unsigned char String::concat(unsigned char num)
-{
-	char buf[4];
-	itoa(num, buf, 10);
-	return concat(buf, strlen(buf));
-}
-
-unsigned char String::concat(int num)
-{
-	char buf[12];
-	itoa(num, buf, 10);
-	return concat(buf, strlen(buf));
-}
-
-unsigned char String::concat(unsigned int num)
-{
-	char buf[11];
-	utoa(num, buf, 10);
-	return concat(buf, strlen(buf));
-}
-
-unsigned char String::concat(long num)
-{
-	char buf[12];
-	ltoa(num, buf, 10);
-	return concat(buf, strlen(buf));
-}
-
-unsigned char String::concat(unsigned long num)
-{
-	char buf[11];
-	ultoa(num, buf, 10);
-	return concat(buf, strlen(buf));
-}
-
-unsigned char String::concat(float num)
-{
-	char buf[20];
-	char* string = dtostrf(num, 4, 2, buf);
-	return concat(string, strlen(string));
-}
-
-unsigned char String::concat(double num)
-{
-	char buf[20];
-	char* string = dtostrf(num, 4, 2, buf);
-	return concat(string, strlen(string));
-}
-
-unsigned char String::concat(const __FlashStringHelper * str)
-{
-	if (!str) return 0;
-	int length = strlen_P((const char *) str);
-	if (length == 0) return 1;
-	unsigned int newlen = len + length;
-	if (!reserve(newlen)) return 0;
-	strcpy_P(buffer + len, (const char *) str);
-	len = newlen;
-	return 1;
-}
-
-/*********************************************/
-/*  Concatenate                              */
-/*********************************************/
-
-StringSumHelper & operator + (const StringSumHelper &lhs, const String &rhs)
-{
-	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
-	if (!a.concat(rhs.buffer, rhs.len)) a.invalidate();
-	return a;
-}
-
-StringSumHelper & operator + (const StringSumHelper &lhs, const char *cstr)
-{
-	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
-	if (!cstr || !a.concat(cstr, strlen(cstr))) a.invalidate();
-	return a;
-}
-
-StringSumHelper & operator + (const StringSumHelper &lhs, char c)
-{
-	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
-	if (!a.concat(c)) a.invalidate();
-	return a;
-}
-
-StringSumHelper & operator + (const StringSumHelper &lhs, unsigned char num)
-{
-	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
-	if (!a.concat(num)) a.invalidate();
-	return a;
-}
-
-StringSumHelper & operator + (const StringSumHelper &lhs, int num)
-{
-	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
-	if (!a.concat(num)) a.invalidate();
-	return a;
-}
-
-StringSumHelper & operator + (const StringSumHelper &lhs, unsigned int num)
-{
-	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
-	if (!a.concat(num)) a.invalidate();
-	return a;
-}
-
-StringSumHelper & operator + (const StringSumHelper &lhs, long num)
-{
-	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
-	if (!a.concat(num)) a.invalidate();
-	return a;
-}
-
-StringSumHelper & operator + (const StringSumHelper &lhs, unsigned long num)
-{
-	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
-	if (!a.concat(num)) a.invalidate();
-	return a;
-}
-
-StringSumHelper & operator + (const StringSumHelper &lhs, float num)
-{
-	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
-	if (!a.concat(num)) a.invalidate();
-	return a;
-}
-
-StringSumHelper & operator + (const StringSumHelper &lhs, double num)
-{
-	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
-	if (!a.concat(num)) a.invalidate();
-	return a;
-}
-
-StringSumHelper & operator + (const StringSumHelper &lhs, const __FlashStringHelper *rhs)
-{
-	StringSumHelper &a = const_cast<StringSumHelper&>(lhs);
-	if (!a.concat(rhs))	a.invalidate();
-	return a;
-}
-
-/*********************************************/
-/*  Comparison                               */
-/*********************************************/
-
-int String::compareTo(const String &s) const
-{
-	if (!buffer || !s.buffer) {
-		if (s.buffer && s.len > 0) return 0 - *(unsigned char *)s.buffer;
-		if (buffer && len > 0) return *(unsigned char *)buffer;
-		return 0;
-	}
-	return strcmp(buffer, s.buffer);
-}
-
-unsigned char String::equals(const String &s2) const
-{
-	return (len == s2.len && compareTo(s2) == 0);
-}
-
-unsigned char String::equals(const char *cstr) const
-{
-	if (len == 0) return (cstr == NULL || *cstr == 0);
-	if (cstr == NULL) return buffer[0] == 0;
-	return strcmp(buffer, cstr) == 0;
-}
-
-unsigned char String::operator<(const String &rhs) const
-{
-	return compareTo(rhs) < 0;
-}
-
-unsigned char String::operator>(const String &rhs) const
-{
-	return compareTo(rhs) > 0;
-}
-
-unsigned char String::operator<=(const String &rhs) const
-{
-	return compareTo(rhs) <= 0;
-}
-
-unsigned char String::operator>=(const String &rhs) const
-{
-	return compareTo(rhs) >= 0;
-}
-
-unsigned char String::equalsIgnoreCase( const String &s2 ) const
-{
-	if (this == &s2) return 1;
-	if (len != s2.len) return 0;
-	if (len == 0) return 1;
-	const char *p1 = buffer;
-	const char *p2 = s2.buffer;
-	while (*p1) {
-		if (tolower(*p1++) != tolower(*p2++)) return 0;
-	} 
-	return 1;
-}
-
-unsigned char String::startsWith( const String &s2 ) const
-{
-	if (len < s2.len) return 0;
-	return startsWith(s2, 0);
-}
-
-unsigned char String::startsWith( const String &s2, unsigned int offset ) const
-{
-	if (offset > len - s2.len || !buffer || !s2.buffer) return 0;
-	return strncmp( &buffer[offset], s2.buffer, s2.len ) == 0;
-}
-
-unsigned char String::endsWith( const String &s2 ) const
-{
-	if ( len < s2.len || !buffer || !s2.buffer) return 0;
-	return strcmp(&buffer[len - s2.len], s2.buffer) == 0;
-}
-
-/*********************************************/
-/*  Character Access                         */
-/*********************************************/
-
-char String::charAt(unsigned int loc) const
-{
-	return operator[](loc);
-}
-
-void String::setCharAt(unsigned int loc, char c) 
-{
-	if (loc < len) buffer[loc] = c;
-}
-
-char & String::operator[](unsigned int index)
-{
-	static char dummy_writable_char;
-	if (index >= len || !buffer) {
-		dummy_writable_char = 0;
-		return dummy_writable_char;
-	}
-	return buffer[index];
-}
-
-char String::operator[]( unsigned int index ) const
-{
-	if (index >= len || !buffer) return 0;
-	return buffer[index];
-}
-
-void String::getBytes(unsigned char *buf, unsigned int bufsize, unsigned int index) const
-{
-	if (!bufsize || !buf) return;
-	if (index >= len) {
-		buf[0] = 0;
-		return;
-	}
-	unsigned int n = bufsize - 1;
-	if (n > len - index) n = len - index;
-	strncpy((char *)buf, buffer + index, n);
-	buf[n] = 0;
-}
-
-/*********************************************/
-/*  Search                                   */
-/*********************************************/
-
-int String::indexOf(char c) const
-{
-	return indexOf(c, 0);
-}
-
-int String::indexOf( char ch, unsigned int fromIndex ) const
-{
-	if (fromIndex >= len) return -1;
-	const char* temp = strchr(buffer + fromIndex, ch);
-	if (temp == NULL) return -1;
-	return temp - buffer;
-}
-
-int String::indexOf(const String &s2) const
-{
-	return indexOf(s2, 0);
-}
-
-int String::indexOf(const String &s2, unsigned int fromIndex) const
-{
-	if (fromIndex >= len) return -1;
-	const char *found = strstr(buffer + fromIndex, s2.buffer);
-	if (found == NULL) return -1;
-	return found - buffer;
-}
-
-int String::lastIndexOf( char theChar ) const
-{
-	return lastIndexOf(theChar, len - 1);
-}
-
-int String::lastIndexOf(char ch, unsigned int fromIndex) const
-{
-	if (fromIndex >= len) return -1;
-	char tempchar = buffer[fromIndex + 1];
-	buffer[fromIndex + 1] = '\0';
-	char* temp = strrchr( buffer, ch );
-	buffer[fromIndex + 1] = tempchar;
-	if (temp == NULL) return -1;
-	return temp - buffer;
-}
-
-int String::lastIndexOf(const String &s2) const
-{
-	return lastIndexOf(s2, len - s2.len);
-}
-
-int String::lastIndexOf(const String &s2, unsigned int fromIndex) const
-{
-  	if (s2.len == 0 || len == 0 || s2.len > len) return -1;
-	if (fromIndex >= len) fromIndex = len - 1;
-	int found = -1;
-	for (char *p = buffer; p <= buffer + fromIndex; p++) {
-		p = strstr(p, s2.buffer);
-		if (!p) break;
-		if ((unsigned int)(p - buffer) <= fromIndex) found = p - buffer;
-	}
-	return found;
-}
-
-String String::substring(unsigned int left, unsigned int right) const
-{
-	if (left > right) {
-		unsigned int temp = right;
-		right = left;
-		left = temp;
-	}
-	String out;
-	if (left > len) return out;
-	if (right > len) right = len;
-	char temp = buffer[right];  // save the replaced character
-	buffer[right] = '\0';	
-	out = buffer + left;  // pointer arithmetic
-	buffer[right] = temp;  //restore character
-	return out;
-}
-
-/*********************************************/
-/*  Modification                             */
-/*********************************************/
-
-void String::replace(char find, char replace)
-{
-	if (!buffer) return;
-	for (char *p = buffer; *p; p++) {
-		if (*p == find) *p = replace;
-	}
-}
-
-void String::replace(const String& find, const String& replace)
-{
-	if (len == 0 || find.len == 0) return;
-	int diff = replace.len - find.len;
-	char *readFrom = buffer;
-	char *foundAt;
-	if (diff == 0) {
-		while ((foundAt = strstr(readFrom, find.buffer)) != NULL) {
-			memcpy(foundAt, replace.buffer, replace.len);
-			readFrom = foundAt + replace.len;
-		}
-	} else if (diff < 0) {
-		char *writeTo = buffer;
-		while ((foundAt = strstr(readFrom, find.buffer)) != NULL) {
-			unsigned int n = foundAt - readFrom;
-			memcpy(writeTo, readFrom, n);
-			writeTo += n;
-			memcpy(writeTo, replace.buffer, replace.len);
-			writeTo += replace.len;
-			readFrom = foundAt + find.len;
-			len += diff;
-		}
-		strcpy(writeTo, readFrom);
-	} else {
-		unsigned int size = len; // compute size needed for result
-		while ((foundAt = strstr(readFrom, find.buffer)) != NULL) {
-			readFrom = foundAt + find.len;
-			size += diff;
-		}
-		if (size == len) return;
-		if (size > capacity && !changeBuffer(size)) return; // XXX: tell user!
-		int index = len - 1;
-		while (index >= 0 && (index = lastIndexOf(find, index)) >= 0) {
-			readFrom = buffer + index + find.len;
-			memmove(readFrom + diff, readFrom, len - (readFrom - buffer));
-			len += diff;
-			buffer[len] = 0;
-			memcpy(buffer + index, replace.buffer, replace.len);
-			index--;
-		}
-	}
-}
-
-void String::remove(unsigned int index){
-	if (index >= len) { return; }
-	int count = len - index;
-	remove(index, count);
-}
-
-void String::remove(unsigned int index, unsigned int count){
-	if (index >= len) { return; }
-	if (count <= 0) { return; }
-	if (index + count > len) { count = len - index; }
-	char *writeTo = buffer + index;
-	len = len - count;
-	strncpy(writeTo, buffer + index + count,len - index);
-	buffer[len] = 0;
-}
-
-void String::toLowerCase(void)
-{
-	if (!buffer) return;
-	for (char *p = buffer; *p; p++) {
-		*p = tolower(*p);
-	}
-}
-
-void String::toUpperCase(void)
-{
-	if (!buffer) return;
-	for (char *p = buffer; *p; p++) {
-		*p = toupper(*p);
-	}
-}
-
-void String::trim(void)
-{
-	if (!buffer || len == 0) return;
-	char *begin = buffer;
-	while (isspace(*begin)) begin++;
-	char *end = buffer + len - 1;
-	while (isspace(*end) && end >= begin) end--;
-	len = end + 1 - begin;
-	if (begin > buffer) memcpy(buffer, begin, len);
-	buffer[len] = 0;
-}
-
-/*********************************************/
-/*  Parsing / Conversion                     */
-/*********************************************/
-
-long String::toInt(void) const
-{
-	if (buffer) return atol(buffer);
-	return 0;
-}
-
-float String::toFloat(void) const
-{
-	if (buffer) return float(atof(buffer));
-	return 0;
-}