bullet3/examples/Importers/ImportURDFDemo/urdfStringSplit.cpp

#include <assert.h>
//#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>

#include "urdfStringSplit.h"

void urdfStringSplit( btAlignedObjectArray<std::string>&pieces, const std::string& vector_str, btAlignedObjectArray<std::string> separators)
	{
		assert(separators.size()==1);
		if (separators.size()==1)
		{
			char** strArray = urdfStrSplit(vector_str.c_str(),separators[0].c_str());
			int numSubStr = urdfStrArrayLen(strArray);
			for (int i=0;i<numSubStr;i++)
				pieces.push_back(std::string(strArray[i]));
			urdfStrArrayFree(strArray);
		}
	}
	btAlignedObjectArray<std::string> urdfIsAnyOf(const char* seps)
	{
		btAlignedObjectArray<std::string> strArray;

		int numSeps = strlen(seps);
		for (int i=0;i<numSeps;i++)
		{
			char sep2[2] = {0,0};
			
			sep2[0] = seps[i];
			strArray.push_back(sep2);
		}
		return strArray;
		
	}




/* Append an item to a dynamically allocated array of strings. On failure,
 return NULL, in which case the original array is intact. The item
 string is dynamically copied. If the array is NULL, allocate a new
 array. Otherwise, extend the array. Make sure the array is always
 NULL-terminated. Input string might not be '\0'-terminated. */
char **urdfStrArrayAppend(char **array, size_t nitems, const char *item,
                        size_t itemlen)
{
    /* Make a dynamic copy of the item. */
    char *copy;
    if (item == NULL)
        copy = NULL;
    else {
        copy = (char*)malloc(itemlen + 1);
        if (copy == NULL)
            return NULL;
        memcpy(copy, item, itemlen);
        copy[itemlen] = '\0';
    }
	
    /* Extend array with one element. Except extend it by two elements,
	 in case it did not yet exist. This might mean it is a teeny bit
	 too big, but we don't care. */
    array = (char**)realloc(array, (nitems + 2) * sizeof(array[0]));
    if (array == NULL) {
        free(copy);
        return NULL;
    }
	
    /* Add copy of item to array, and return it. */
    array[nitems] = copy;
    array[nitems+1] = NULL;
    return array;
}


/* Free a dynamic array of dynamic strings. */
void urdfStrArrayFree(char **array)
{
    if (array == NULL)
        return;
    for (size_t i = 0; array[i] != NULL; ++i)
        free(array[i]);
    free(array);
}


/* Split a string into substrings. Return dynamic array of dynamically
 allocated substrings, or NULL if there was an error. Caller is
 expected to free the memory, for example with str_array_free. */
char **urdfStrSplit(const char *input, const char *sep)
{
    size_t nitems = 0;
    char **array = NULL;
    const char *start = input;
    const char *next = strstr(start, sep);
    size_t seplen = strlen(sep);
    const char *item;
    size_t itemlen;
	
    for (;;) {
        next = strstr(start, sep);
        if (next == NULL) {
            /* Add the remaining string (or empty string, if input ends with
			 separator. */
            char **newstr = urdfStrArrayAppend(array, nitems, start, strlen(start));
            if (newstr == NULL) {
                urdfStrArrayFree(array);
                return NULL;
            }
            array = newstr;
            ++nitems;
            break;
        } else if (next == input) {
            /* Input starts with separator. */
            item = "";
            itemlen = 0;
        } else {
            item = start;
            itemlen = next - item;
        }
        char **newstr = urdfStrArrayAppend(array, nitems, item, itemlen);
        if (newstr == NULL) {
            urdfStrArrayFree(array);
            return NULL;
        }
        array = newstr;
        ++nitems;
        start = next + seplen;
    }
	
    if (nitems == 0) {
        /* Input does not contain separator at all. */
        assert(array == NULL);
        array = urdfStrArrayAppend(array, nitems, input, strlen(input));
    }
	
    return array;
}


/* Return length of a NULL-delimited array of strings. */
size_t urdfStrArrayLen(char **array)
{
    size_t len;
	
    for (len = 0; array[len] != NULL; ++len)
        continue;
    return len;
}

#ifdef UNIT_TEST_STRING_SPLIT

#define MAX_OUTPUT 20


int main(void)
{
    struct {
        const char *input;
        const char *sep;
        char *output[MAX_OUTPUT];
    } tab[] = {
        /* Input is empty string. Output should be a list with an empty
		 string. */
        {
            "",
            "and",
            {
                "",
                NULL,
            },
        },
        /* Input is exactly the separator. Output should be two empty
		 strings. */
        {
            "and",
            "and",
            {
                "",
                "",
                NULL,
            },
        },
        /* Input is non-empty, but does not have separator. Output should
		 be the same string. */
        {
            "foo",
            "and",
            {
                "foo",
                NULL,
            },
        },
        /* Input is non-empty, and does have separator. */
        {
            "foo bar 1 and foo bar 2",
            " and ",
            {
                "foo bar 1",
                "foo bar 2",
                NULL,
            },
        },
    };
    const int tab_len = sizeof(tab) / sizeof(tab[0]);
    bool errors;
	
    errors = false;
	
    for (int i = 0; i < tab_len; ++i) {
        printf("test %d\n", i);
		
        char **output = str_split(tab[i].input, tab[i].sep);
        if (output == NULL) {
            fprintf(stderr, "output is NULL\n");
            errors = true;
            break;
        }
        size_t num_output = str_array_len(output);
        printf("num_output %lu\n", (unsigned long) num_output);
		
        size_t num_correct = str_array_len(tab[i].output);
        if (num_output != num_correct) {
            fprintf(stderr, "wrong number of outputs (%lu, not %lu)\n",
                    (unsigned long) num_output, (unsigned long) num_correct);
            errors = true;
        } else {
            for (size_t j = 0; j < num_output; ++j) {
                if (strcmp(tab[i].output[j], output[j]) != 0) {
                    fprintf(stderr, "output[%lu] is '%s' not '%s'\n",
                            (unsigned long) j, output[j], tab[i].output[j]);
                    errors = true;
                    break;
                }
            }
        }
		
        str_array_free(output);
        printf("\n");
    }
	
    if (errors)
        return EXIT_FAILURE;
    return 0;
}
#endif//UNIT_TEST_STRING_SPLIT