/********************************************************* * * This source code is part of the Carnegie Mellon Robot * Navigation Toolkit (CARMEN) * * CARMEN Copyright (c) 2002 Michael Montemerlo, Nicholas * Roy, Sebastian Thrun, Dirk Haehnel, Cyrill Stachniss, * and Jared Glover * * CARMEN is free software; you can redistribute it and/or  * modify it under the terms of the GNU General Public  * License as published by the Free Software Foundation;  * either version 2 of the License, or (at your option) * any later version. * * CARMEN 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 General Public License for more  * details. * * You should have received a copy of the GNU General  * Public License along with CARMEN; if not, write to the * Free Software Foundation, Inc., 59 Temple Place,  * Suite 330, Boston, MA  02111-1307 USA * ********************************************************/#include <carmen/carmen.h>#include <assert.h>#include "hash.h"static struct cache *Table; static void Cleanup(char *String);static unsigned int hash_string(register struct cache *cache, void *key);static int compare_strings(register void *k1, register void *k2);unsigned char SETUP_ReadSetup(char *filename) {  char *buf;   char buf1[200], buf2[200], *SectionName;  FILE *fp;   char *Token;   char *Key;   char *Value;   char *Aux;   long int Length;   long int KeyLength;   long int SectionNameLength =0;   long int TokenLength;   long int l;   fp = fopen(filename, "r");  SectionName = calloc(200, 1);  carmen_test_alloc(SectionName);  if (fp == NULL) {    printf("Unable to read setup file %s\n", filename);    return 0;  }   if (Table == NULL) {    Table = hash_new(0x200, hash_string, compare_strings);        assert(Table);  }    while (fgets(buf1, 199, fp) != 0) {    buf = buf1;    buf += strspn(buf, " \n\t");    if (buf[0] == *";") {      continue;    } else {      if (strchr(buf, *"[") != NULL) {	Token = strtok(buf, "=\\[]=;\t\n");	if (Token == NULL) {	  printf("Incorrect section name format for section %s\n",		 buf);	  SectionName = NULL;	} else { 	  Cleanup(Token);	  Length = strlen(Token);	  SectionName[0] = *"[";	  memcpy(SectionName + 1, Token, Length + 1);	  *(SectionName + Length + 1) = *"]";	  *(SectionName + Length + 2) = '\0';	  SectionNameLength = Length + 2;	}       } else if (strchr(buf, *"=") != NULL) {	Aux = strstr(buf, "=") + 1;	Aux += strspn(Aux, " \n\t");	Length = strcspn(Aux, ";");	Value = (char *)calloc(Length + 1, 1);	carmen_test_alloc(Value);	memcpy(Value, Aux, Length);	Value[Length] = '\0';	while (strchr(Value, *"\\") != NULL) {	  Length = strcspn(Value, "\\");	  if (fgets(buf2, 199, fp) != 0) {	    l = strlen(buf2);	    Value = realloc(Value, Length + l);	    carmen_test_alloc(Value);	    memcpy(Value + Length, buf2, l);	    Length += l;	  } 	  Value[Length] = '\0';	} 	Cleanup(Value);	Token = strtok(buf, "=\\[]=;\t\n");	Cleanup(Token);	TokenLength = strlen(Token);	Key = (char *)calloc(SectionNameLength + TokenLength + 1, 1);	carmen_test_alloc(Key);	memcpy(Key, SectionName, SectionNameLength);	KeyLength = SectionNameLength;	memcpy(Key + KeyLength, Token, strlen(Token));	KeyLength += strlen(Token);	Key[KeyLength] = '\0';	if (hash_value_for_key(Table, Key) != NULL) {	  hash_change_key_value(Table, Key, Value);	  free(Key);	} else { 	  hash_add(&Table, Key, Value);	}      }     }  }    free(SectionName);  fclose(fp);  return 1;}char *SETUP_GetValue(char *Key) {  if (Table == NULL)     return NULL;    return hash_value_for_key(Table, Key);}char *SETUP_ExtGetValue(char *Section, char *Key){  char *tmp, *ret;   tmp = calloc(strlen(Section) + strlen(Key) + 3, 1);  carmen_test_alloc(tmp);  sprintf(tmp, "[%s]%s", Section, Key);  ret = SETUP_GetValue(tmp);  free(tmp);  return ret;}void SETUP_SetValue(char *Key, char *UserValue) {  char *Value;   char *OldValue;   char *NewKey;   assert(Key);  assert(UserValue);  Value = calloc(strlen(UserValue) + 1, 1);  carmen_test_alloc(Value);  if (Table == NULL) {    Table = hash_new(0x200, hash_string, compare_strings);        assert(Table);  }  strcpy(Value, UserValue);    if ((OldValue = hash_value_for_key(Table, Key)) != NULL) {    hash_change_key_value(Table, Key, Value);    free(OldValue);  } else {     NewKey = calloc(strlen(Key) + 1, 1);    carmen_test_alloc(NewKey);    strcpy(NewKey, Key);    hash_add(&Table, NewKey, Value);  }}static void Cleanup(char *String) {  long int i;   long int j;   j = 0;  i = 0;    assert(String);    while (String[i] != '\0') {    if (strchr("=\\[]=;\t\n", String[i]) == NULL) {      String[j] = String[i];      i++;      j++;    } else {       i++;    }  }  String[j] = '\0';  j--;    while (strchr(" \n\t", String[j]) != NULL) {    String[j] = '\0';    j--;  }    return;}long int SETUP_ItemCount(char *StemKey) {  char *ItemKey;   long int ItemCount;    ItemCount = 0;  ItemKey = (char *)calloc(strlen(StemKey) + 0x226, 1);  carmen_test_alloc(ItemKey);    sprintf(ItemKey, "%s%ld", StemKey, ItemCount);  while (SETUP_GetValue(ItemKey) != NULL) {    ItemCount++;    sprintf(ItemKey, "%s%ld", StemKey, ItemCount);  }  return ItemCount;}unsigned int hash_string(register struct cache *cache, void *key){  unsigned int ret;   unsigned int ctr;   char *ckey;   ret = 0;  ctr = 0;  ckey = (char *) key;  while (*ckey != 0) {    ret ^= (*ckey) << ctr;    ckey++;    ctr = (ctr + 1) & 0x03;  }  return ret & cache->mask;}int compare_strings(register void *k1, register void *k2) {  if (k1 == k2)    return 1;  else if ((k1 == NULL) || (k2 == NULL))    return 0;  else {    return (strcmp((char *) k1, (char *) k2)) ? 0 : 1;  }  }