From 9bcdc61c5a6c5f3ea998dfa559b97b8896ca2f23 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E6=9D=B0=E4=BB=94?= Date: Wed, 18 Feb 2026 16:00:16 +0800 Subject: [PATCH 1/2] =?UTF-8?q?=E5=88=9D=E5=A7=8B=E6=8F=90=E4=BA=A4?= =?UTF-8?q?=EF=BC=9AUtils=20=E5=B7=A5=E5=85=B7=E5=BA=93=E6=A8=A1=E5=9D=97?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 包含以下子模块： - VrCommon: 核心接口和数据结构 - VrUtils: 工具类库（JSON、log4cpp、tinyxml2、INI、MD5、CRC） - CloudUtils: 点云工具 - DataUtils: 数据处理工具（CloudMathClac、CoordinateTransform） - CloudView: 点云查看工具 功能说明： - 提供项目通用的基础工具类和实用功能 - 支持 Windows (MSVC/MinGW) 和 Linux (ARM/x86_64) 平台 - 使用 Qt qmake 构建系统 - 所有模块编译为静态库 --- .gitignore | 53 + CloudUtils/CloudUtils.pro | 35 + CloudUtils/Inc/LaserDataLoader.h | 74 + CloudUtils/Inc/PointCloudImageUtils.h | 127 + CloudUtils/Src/LaserDataLoader.cpp | 554 +++ CloudUtils/Src/PointCloudImageUtils.cpp | 1333 ++++++ CloudView/CloudView.pro | 67 + CloudView/Inc/CloudViewMainWindow.h | 312 ++ CloudView/Inc/PointCloudConverter.h | 149 + CloudView/Inc/PointCloudGLWidget.h | 393 ++ CloudView/Src/CloudViewMainWindow.cpp | 1670 ++++++++ CloudView/Src/PointCloudConverter.cpp | 561 +++ CloudView/Src/PointCloudGLWidget.cpp | 1276 ++++++ CloudView/main.cpp | 35 + CloudView/poses.txt | 17 + CloudView/resource/logo.ico | Bin 0 -> 38078 bytes CloudView/resource/logo.png | Bin 0 -> 6687 bytes CloudView/resource/resource.qrc | 6 + CloudView/segments.txt | 23 + DataUtils/CloudMathClac/CloudMathClac.pro | 27 + DataUtils/CloudMathClac/Inc/CurveFitting.h | 50 + DataUtils/CloudMathClac/Src/CurveFitting.cpp | 202 + .../CoordinateTransform.pro | 27 + .../Inc/CoordinateTransform.h | 169 + .../CoordinateTransform/Inc/CoordinateTypes.h | 362 ++ .../Src/CoordinateTransform.cpp | 616 +++ DataUtils/DataUtils.pro | 8 + MIGRATION.md | 197 + QUICKSTART.md | 201 + README.md | 141 + Utils.pro | 22 + VrCommon/Inc/VrCommon.h | 59 + VrCommon/Inc/VrConfigCmd.h | 205 + VrCommon/Inc/VrError.h | 100 + VrCommon/Src/VrCommon.cpp | 1 + VrCommon/VrCommon.pro | 27 + VrUtils/CMakeLists.txt | 31 + VrUtils/Inc/IVrUtils.h | 63 + VrUtils/Inc/VrAngleUtils.h | 14 + VrUtils/Inc/VrCodeFormatUtils.h | 25 + VrUtils/Inc/VrDateUtils.h | 22 + VrUtils/Inc/VrDebugTime.h | 50 + VrUtils/Inc/VrFileUtils.h | 44 + VrUtils/Inc/VrLog.h | 87 + VrUtils/Inc/VrMD5Utils.h | 7 + VrUtils/Inc/VrNTPUtils.h | 50 + VrUtils/Inc/VrNetUtils.h | 68 + VrUtils/Inc/VrNumUtils.h | 10 + VrUtils/Inc/VrShellUtils.h | 6 + VrUtils/Inc/VrStringUtils.h | 23 + VrUtils/Inc/VrTimeUtils.h | 32 + VrUtils/Inc/getopt.h | 133 + VrUtils/MD5/md5.cpp | 287 ++ VrUtils/MD5/md5.h | 138 + VrUtils/Src/VrAngleUtils.cpp | 16 + VrUtils/Src/VrCodeFormatUtils.cpp | 161 + VrUtils/Src/VrDateUtils.cpp | 72 + VrUtils/Src/VrFileUtils.cpp | 275 ++ VrUtils/Src/VrLog.cpp | 379 ++ VrUtils/Src/VrMD5Utils.cpp | 10 + VrUtils/Src/VrNTPUtils.cpp | 216 + VrUtils/Src/VrNetUtils.cpp | 812 ++++ VrUtils/Src/VrNumUtils.cpp | 20 + VrUtils/Src/VrShellUtils.cpp | 43 + VrUtils/Src/VrStringUtils.cpp | 104 + VrUtils/Src/VrTimeUtils.cpp | 31 + VrUtils/Src/getopt.c | 764 ++++ VrUtils/VrUtils.pro | 169 + VrUtils/crc/checksum.h | 116 + VrUtils/crc/src/crc16.c | 149 + VrUtils/crc/src/crc32.c | 81 + VrUtils/crc/src/crc64.c | 107 + VrUtils/crc/src/crc8.c | 103 + VrUtils/crc/src/crcccitt.c | 162 + VrUtils/crc/src/crcdnp.c | 128 + VrUtils/crc/src/crckrmit.c | 126 + VrUtils/crc/src/crcsick.c | 102 + VrUtils/crc/src/nmea-chk.c | 76 + VrUtils/ini/ConvertUTF.c | 539 +++ VrUtils/ini/ConvertUTF.h | 149 + VrUtils/ini/SimpleIni.h | 3625 +++++++++++++++++ VrUtils/jsoncpp/json/assertions.h | 41 + VrUtils/jsoncpp/json/autolink.h | 25 + VrUtils/jsoncpp/json/config.h | 114 + VrUtils/jsoncpp/json/features.h | 59 + VrUtils/jsoncpp/json/forwards.h | 45 + VrUtils/jsoncpp/json/json.h | 15 + VrUtils/jsoncpp/json/reader.h | 277 ++ VrUtils/jsoncpp/json/value.h | 1091 +++++ VrUtils/jsoncpp/json/version.h | 14 + VrUtils/jsoncpp/json/writer.h | 214 + VrUtils/jsoncpp/json_batchallocator.h | 123 + VrUtils/jsoncpp/json_internalarray.inl | 360 ++ VrUtils/jsoncpp/json_internalmap.inl | 473 +++ VrUtils/jsoncpp/json_reader.cpp | 887 ++++ VrUtils/jsoncpp/json_tool.h | 89 + VrUtils/jsoncpp/json_value.cpp | 1480 +++++++ VrUtils/jsoncpp/json_valueiterator.inl | 241 ++ VrUtils/jsoncpp/json_writer.cpp | 691 ++++ .../log4cpp/include/log4cpp/AbortAppender.hh | 46 + VrUtils/log4cpp/include/log4cpp/Appender.hh | 169 + .../include/log4cpp/AppenderSkeleton.hh | 111 + .../include/log4cpp/AppendersFactory.hh | 42 + .../include/log4cpp/BasicConfigurator.hh | 31 + .../log4cpp/include/log4cpp/BasicLayout.hh | 34 + .../include/log4cpp/BufferingAppender.hh | 45 + VrUtils/log4cpp/include/log4cpp/Category.hh | 675 +++ .../log4cpp/include/log4cpp/CategoryStream.hh | 146 + .../log4cpp/include/log4cpp/Configurator.hh | 31 + .../log4cpp/DailyRollingFileAppender.hh | 45 + VrUtils/log4cpp/include/log4cpp/Export.hh | 30 + .../log4cpp/include/log4cpp/FactoryParams.hh | 158 + .../log4cpp/include/log4cpp/FileAppender.hh | 92 + VrUtils/log4cpp/include/log4cpp/Filter.hh | 119 + .../include/log4cpp/FixedContextCategory.hh | 174 + .../include/log4cpp/HierarchyMaintainer.hh | 59 + .../log4cpp/include/log4cpp/IdsaAppender.hh | 76 + VrUtils/log4cpp/include/log4cpp/Layout.hh | 39 + .../log4cpp/include/log4cpp/LayoutAppender.hh | 55 + .../log4cpp/include/log4cpp/LayoutsFactory.hh | 42 + .../log4cpp/include/log4cpp/LevelEvaluator.hh | 26 + .../log4cpp/include/log4cpp/LoggingEvent.hh | 73 + .../log4cpp/include/log4cpp/Manipulator.hh | 30 + VrUtils/log4cpp/include/log4cpp/NDC.hh | 181 + .../include/log4cpp/NTEventLogAppender.hh | 105 + .../include/log4cpp/OstreamAppender.hh | 38 + .../include/log4cpp/PassThroughLayout.hh | 22 + .../log4cpp/include/log4cpp/PatternLayout.hh | 104 + .../log4cpp/include/log4cpp/Portability.hh | 69 + VrUtils/log4cpp/include/log4cpp/Priority.hh | 110 + .../include/log4cpp/PropertyConfigurator.hh | 58 + .../include/log4cpp/RemoteSyslogAppender.hh | 139 + .../include/log4cpp/RollingFileAppender.hh | 48 + .../include/log4cpp/SimpleConfigurator.hh | 52 + .../log4cpp/include/log4cpp/SimpleLayout.hh | 34 + .../log4cpp/include/log4cpp/SmtpAppender.hh | 40 + .../include/log4cpp/StringQueueAppender.hh | 72 + .../log4cpp/include/log4cpp/SyslogAppender.hh | 76 + VrUtils/log4cpp/include/log4cpp/TimeStamp.hh | 74 + .../log4cpp/TriggeringEventEvaluator.hh | 23 + .../TriggeringEventEvaluatorFactory.hh | 41 + .../include/log4cpp/Win32DebugAppender.hh | 57 + .../log4cpp/include/log4cpp/config-MinGW32.h | 105 + .../log4cpp/include/log4cpp/config-openvms.h | 74 + .../log4cpp/config-win32-stlport-boost.h | 157 + .../log4cpp/include/log4cpp/config-win32.h | 174 + VrUtils/log4cpp/include/log4cpp/convenience.h | 104 + .../include/log4cpp/threading/BoostThreads.hh | 55 + .../include/log4cpp/threading/DummyThreads.hh | 67 + .../include/log4cpp/threading/MSThreads.hh | 161 + .../include/log4cpp/threading/OmniThreads.hh | 137 + .../include/log4cpp/threading/PThreads.hh | 125 + .../include/log4cpp/threading/Threading.hh | 37 + VrUtils/log4cpp/src/AbortAppender.cpp | 52 + VrUtils/log4cpp/src/Appender.cpp | 123 + VrUtils/log4cpp/src/AppenderSkeleton.cpp | 60 + VrUtils/log4cpp/src/AppendersFactory.cpp | 90 + VrUtils/log4cpp/src/BasicConfigurator.cpp | 35 + VrUtils/log4cpp/src/BasicLayout.cpp | 43 + VrUtils/log4cpp/src/BufferingAppender.cpp | 53 + VrUtils/log4cpp/src/Category.cpp | 430 ++ VrUtils/log4cpp/src/CategoryStream.cpp | 110 + VrUtils/log4cpp/src/Configurator.cpp | 20 + .../log4cpp/src/DailyRollingFileAppender.cpp | 186 + VrUtils/log4cpp/src/DllMain.cpp | 31 + VrUtils/log4cpp/src/DummyThreads.cpp | 22 + VrUtils/log4cpp/src/FactoryParams.cpp | 26 + VrUtils/log4cpp/src/FileAppender.cpp | 113 + VrUtils/log4cpp/src/Filter.cpp | 60 + VrUtils/log4cpp/src/FixedContextCategory.cpp | 100 + VrUtils/log4cpp/src/HierarchyMaintainer.cpp | 132 + VrUtils/log4cpp/src/IdsaAppender.cpp | 89 + VrUtils/log4cpp/src/LayoutAppender.cpp | 39 + VrUtils/log4cpp/src/LayoutsFactory.cpp | 57 + VrUtils/log4cpp/src/LevelEvaluator.cpp | 21 + VrUtils/log4cpp/src/Localtime.cpp | 37 + VrUtils/log4cpp/src/Localtime.hh | 17 + VrUtils/log4cpp/src/LoggingEvent.cpp | 26 + VrUtils/log4cpp/src/MSThreads.cpp | 23 + VrUtils/log4cpp/src/Manipulator.cpp | 22 + VrUtils/log4cpp/src/NDC.cpp | 128 + VrUtils/log4cpp/src/NTEventLogAppender.cpp | 165 + VrUtils/log4cpp/src/OmniThreads.cpp | 22 + VrUtils/log4cpp/src/OstreamAppender.cpp | 44 + VrUtils/log4cpp/src/PThreads.cpp | 36 + VrUtils/log4cpp/src/PassThroughLayout.cpp | 17 + VrUtils/log4cpp/src/PatternLayout.cpp | 438 ++ VrUtils/log4cpp/src/PortabilityImpl.cpp | 27 + VrUtils/log4cpp/src/PortabilityImpl.hh | 70 + VrUtils/log4cpp/src/Priority.cpp | 70 + VrUtils/log4cpp/src/Properties.cpp | 158 + VrUtils/log4cpp/src/Properties.hh | 38 + VrUtils/log4cpp/src/PropertyConfigurator.cpp | 20 + .../log4cpp/src/PropertyConfiguratorImpl.cpp | 370 ++ .../log4cpp/src/PropertyConfiguratorImpl.hh | 96 + VrUtils/log4cpp/src/RemoteSyslogAppender.cpp | 186 + VrUtils/log4cpp/src/RollingFileAppender.cpp | 111 + VrUtils/log4cpp/src/SimpleConfigurator.cpp | 232 ++ VrUtils/log4cpp/src/SimpleLayout.cpp | 42 + VrUtils/log4cpp/src/SmtpAppender.cpp | 186 + VrUtils/log4cpp/src/StringQueueAppender.cpp | 57 + VrUtils/log4cpp/src/StringUtil.cpp | 98 + VrUtils/log4cpp/src/StringUtil.hh | 84 + VrUtils/log4cpp/src/SyslogAppender.cpp | 88 + VrUtils/log4cpp/src/TimeStamp.cpp | 53 + .../src/TriggeringEventEvaluatorFactory.cpp | 50 + VrUtils/log4cpp/src/Win32DebugAppender.cpp | 56 + VrUtils/log4cpp/src/snprintf.c | 1025 +++++ VrUtils/resource.h | 14 + VrUtils/tinyxml2/tinyxml2.cpp | 2987 ++++++++++++++ VrUtils/tinyxml2/tinyxml2.h | 2380 +++++++++++ 211 files changed, 41215 insertions(+) create mode 100644 .gitignore create mode 100644 CloudUtils/CloudUtils.pro create mode 100644 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DataUtils/CloudMathClac/Src/CurveFitting.cpp create mode 100644 DataUtils/CoordinateTransform/CoordinateTransform.pro create mode 100644 DataUtils/CoordinateTransform/Inc/CoordinateTransform.h create mode 100644 DataUtils/CoordinateTransform/Inc/CoordinateTypes.h create mode 100644 DataUtils/CoordinateTransform/Src/CoordinateTransform.cpp create mode 100644 DataUtils/DataUtils.pro create mode 100644 MIGRATION.md create mode 100644 QUICKSTART.md create mode 100644 README.md create mode 100644 Utils.pro create mode 100644 VrCommon/Inc/VrCommon.h create mode 100644 VrCommon/Inc/VrConfigCmd.h create mode 100644 VrCommon/Inc/VrError.h create mode 100644 VrCommon/Src/VrCommon.cpp create mode 100644 VrCommon/VrCommon.pro create mode 100644 VrUtils/CMakeLists.txt create mode 100644 VrUtils/Inc/IVrUtils.h create mode 100644 VrUtils/Inc/VrAngleUtils.h create mode 100644 VrUtils/Inc/VrCodeFormatUtils.h create mode 100644 VrUtils/Inc/VrDateUtils.h create mode 100644 VrUtils/Inc/VrDebugTime.h 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create mode 100644 VrUtils/log4cpp/include/log4cpp/BasicLayout.hh create mode 100644 VrUtils/log4cpp/include/log4cpp/BufferingAppender.hh create mode 100644 VrUtils/log4cpp/include/log4cpp/Category.hh create mode 100644 VrUtils/log4cpp/include/log4cpp/CategoryStream.hh create mode 100644 VrUtils/log4cpp/include/log4cpp/Configurator.hh create mode 100644 VrUtils/log4cpp/include/log4cpp/DailyRollingFileAppender.hh create mode 100644 VrUtils/log4cpp/include/log4cpp/Export.hh create mode 100644 VrUtils/log4cpp/include/log4cpp/FactoryParams.hh create mode 100644 VrUtils/log4cpp/include/log4cpp/FileAppender.hh create mode 100644 VrUtils/log4cpp/include/log4cpp/Filter.hh create mode 100644 VrUtils/log4cpp/include/log4cpp/FixedContextCategory.hh create mode 100644 VrUtils/log4cpp/include/log4cpp/HierarchyMaintainer.hh create mode 100644 VrUtils/log4cpp/include/log4cpp/IdsaAppender.hh create mode 100644 VrUtils/log4cpp/include/log4cpp/Layout.hh create mode 100644 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VrUtils/log4cpp/src/MSThreads.cpp create mode 100644 VrUtils/log4cpp/src/Manipulator.cpp create mode 100644 VrUtils/log4cpp/src/NDC.cpp create mode 100644 VrUtils/log4cpp/src/NTEventLogAppender.cpp create mode 100644 VrUtils/log4cpp/src/OmniThreads.cpp create mode 100644 VrUtils/log4cpp/src/OstreamAppender.cpp create mode 100644 VrUtils/log4cpp/src/PThreads.cpp create mode 100644 VrUtils/log4cpp/src/PassThroughLayout.cpp create mode 100644 VrUtils/log4cpp/src/PatternLayout.cpp create mode 100644 VrUtils/log4cpp/src/PortabilityImpl.cpp create mode 100644 VrUtils/log4cpp/src/PortabilityImpl.hh create mode 100644 VrUtils/log4cpp/src/Priority.cpp create mode 100644 VrUtils/log4cpp/src/Properties.cpp create mode 100644 VrUtils/log4cpp/src/Properties.hh create mode 100644 VrUtils/log4cpp/src/PropertyConfigurator.cpp create mode 100644 VrUtils/log4cpp/src/PropertyConfiguratorImpl.cpp create mode 100644 VrUtils/log4cpp/src/PropertyConfiguratorImpl.hh create mode 100644 VrUtils/log4cpp/src/RemoteSyslogAppender.cpp create mode 100644 VrUtils/log4cpp/src/RollingFileAppender.cpp create mode 100644 VrUtils/log4cpp/src/SimpleConfigurator.cpp create mode 100644 VrUtils/log4cpp/src/SimpleLayout.cpp create mode 100644 VrUtils/log4cpp/src/SmtpAppender.cpp create mode 100644 VrUtils/log4cpp/src/StringQueueAppender.cpp create mode 100644 VrUtils/log4cpp/src/StringUtil.cpp create mode 100644 VrUtils/log4cpp/src/StringUtil.hh create mode 100644 VrUtils/log4cpp/src/SyslogAppender.cpp create mode 100644 VrUtils/log4cpp/src/TimeStamp.cpp create mode 100644 VrUtils/log4cpp/src/TriggeringEventEvaluatorFactory.cpp create mode 100644 VrUtils/log4cpp/src/Win32DebugAppender.cpp create mode 100644 VrUtils/log4cpp/src/snprintf.c create mode 100644 VrUtils/resource.h create mode 100644 VrUtils/tinyxml2/tinyxml2.cpp create mode 100644 VrUtils/tinyxml2/tinyxml2.h diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..24a2059 --- /dev/null +++ b/.gitignore @@ -0,0 +1,53 @@ +# Qt 编译产物 +*.o +*.obj +*.a +*.lib +*.so +*.dll +*.dylib +*.exe +*.app +*.user +*.pro.user +*.pro.user.* +*.qmake.stash +Makefile* +moc_*.cpp +moc_*.h +qrc_*.cpp +ui_*.h +*.autosave + +# 构建目录 +debug/ +release/ +Debug/ +Release/ +build/ +build-*/ +*-build-*/ + +# IDE 配置文件 +.vscode/ +.idea/ +*.creator +*.creator.user +*.files +*.includes +*.config +*.cflags +*.cxxflags + +# 临时文件 +*~ +*.swp +*.swo +*.tmp +*.bak +*.log + +# 系统文件 +.DS_Store +Thumbs.db +desktop.ini diff --git a/CloudUtils/CloudUtils.pro b/CloudUtils/CloudUtils.pro new file mode 100644 index 0000000..2fa47ab --- /dev/null +++ b/CloudUtils/CloudUtils.pro @@ -0,0 +1,35 @@ +# CloudUtils库项目配置文件 + +# 指定Qt模块 +QT += core + +# 指定项目模板为静态库 +TEMPLATE = lib +CONFIG += staticlib + +win32-msvc { + QMAKE_CXXFLAGS += /utf-8 +} + + +# 指定C++标准 +CONFIG += c++11 + +INCLUDEPATH += $$PWD/../../SDK/Device/VzNLSDK/_Inc +INCLUDEPATH += $$PWD/../../SDK/Device/VzNLSDK/Inc + +INCLUDEPATH += $$PWD/../VrCommon/Inc +INCLUDEPATH += $$PWD/../VrUtils/Inc + +# 指定包含路径 +INCLUDEPATH += ./Inc \ + ./Src + +# 指定头文件 +HEADERS += Inc/LaserDataLoader.h \ + Inc/PointCloudImageUtils.h + +# 指定源文件 +SOURCES += Src/LaserDataLoader.cpp \ + Src/PointCloudImageUtils.cpp + diff --git a/CloudUtils/Inc/LaserDataLoader.h b/CloudUtils/Inc/LaserDataLoader.h new file mode 100644 index 0000000..1430b9a --- /dev/null +++ b/CloudUtils/Inc/LaserDataLoader.h @@ -0,0 +1,74 @@ +#ifndef LASER_DATA_LOADER_H +#define LASER_DATA_LOADER_H + +#include +#include +#include "VZNL_Types.h" +#include "VrError.h" + +// 激光数据加载器类 +class LaserDataLoader +{ +public: + LaserDataLoader(); + ~LaserDataLoader(); + + // 从文件加载激光扫描数据 - 统一接口，根据文件格式自动判断数据类型 + int LoadLaserScanData(const std::string& fileName, + std::vector>& laserLines, + int& lineNum, + float& scanSpeed, + int& maxTimeStamp, + int& clockPerSecond); + + // 保存激光扫描数据到文件 - 统一接口，支持两种类型的数据 + int SaveLaserScanData(const std::string& fileName, + const std::vector>& laserLines, + int lineNum, + float scanSpeed, + int maxTimeStamp, + int clockPerSecond); + + int DebugSaveLaser(std::string fileName, std::vector> xyzData); + + // 释放统一格式数据内存 + void FreeLaserScanData(std::vector>& laserLines); + + // 释放转换后的SVzNL3DLaserLine数据内存 + void FreeConvertedData(std::vector& xyzData); + + // 释放转换后的SVzNLXYZRGBDLaserLine数据内存 + void FreeConvertedData(std::vector& rgbdData); + + // 转换统一格式数据为SVzNL3DLaserLine格式 + int ConvertToSVzNL3DLaserLine(const std::vector>& unifiedData, + std::vector& xyzData); + + // 转换统一格式数据为SVzNLXYZRGBDLaserLine格式 + int ConvertToSVzNLXYZRGBDLaserLine(const std::vector>& unifiedData, + std::vector& rgbdData); + + // 转换统一格式数据为std::vector>格式 + // validPointCount: 可选输出参数，返回有效点个数（xyz全非0的点） + int ConvertToSVzNL3DPosition(const std::vector>& unifiedData, + std::vector>& scanLines, + size_t* validPointCount = nullptr); + + // 获取最后的错误信息 + std::string GetLastError() const { return m_lastError; } + +private: + // 读取XYZ格式的激光数据 + int _ParseLaserScanPoint(const std::string& data, SVzNL3DPosition& sData, SVzNL2DPosition& s2DData); + + // 读取RGBD格式的激光数据 - 新增RGBD支持 + int _ParseLaserScanPoint(const std::string& data, SVzNLPointXYZRGBA& sData, SVzNL2DLRPoint& s2DData); + + // 获取激光数据类型 + int _GetLaserType(const std::string& fileName, EVzResultDataType& eDataType); + + std::string m_lastError; + static const int VZ_LASER_LINE_PT_MAX_NUM = 4096; +}; + +#endif // LASER_DATA_LOADER_H diff --git a/CloudUtils/Inc/PointCloudImageUtils.h b/CloudUtils/Inc/PointCloudImageUtils.h new file mode 100644 index 0000000..ed51139 --- /dev/null +++ b/CloudUtils/Inc/PointCloudImageUtils.h @@ -0,0 +1,127 @@ +#ifndef POINTCLOUDIMAGEUTILS_H +#define POINTCLOUDIMAGEUTILS_H + +#include +#include +#include +#include // for std::pair + +#include "VZNL_Types.h" + +// 简单的颗粒信息结构 - 避免依赖OpenCV +struct SimpleParticleInfo { + SVzNL3DPoint vertix[8]; // 8个顶点 + struct { + double width; + double height; + } size; +}; + +// 通用检测目标结构体 - 替代算法SDK的 SSG_peakRgnInfo +struct DetectionTargetInfo { + struct { + double x; + double y; + double z_yaw; // 偏航角（度） + } centerPos; + + struct { + double dWidth; + double dHeight; + } objSize; + + int orienFlag = 0; // 朝向标记: 0=无, 1=正面, 2=反面 +}; + +class PointCloudImageUtils +{ +public: + // 点云转图像 - 使用通用检测目标结构体 + static QImage GeneratePointCloudImage(SVzNL3DLaserLine* scanData, + int lineNum, + const std::vector& objOps); + + static QImage GeneratePointCloudImage(SVzNLXYZRGBDLaserLine* scanData, + int lineNum, + const std::vector& objOps); + + // 新的点云图像生成函数 - 基于X、Y范围创建图像 + static QImage GeneratePointCloudImage(SVzNLXYZRGBDLaserLine* scanData, + int lineNum); + + // LapWeld点云和检测结果转图像 - 基于scan lines格式 + static QImage GeneratePointCloudImage(const std::vector>& scanLines, + const std::vector>& weldResults, + int imageWidth = 800, int imageHeight = 600); + + // Workpiece点云和角点检测结果转图像 - 将角点画成圆点 + static QImage GeneratePointCloudRetPointImage(const std::vector>& scanLines, + const std::vector>& cornerPoints, + double margin = 0.0); + + // ParticleSize点云和颗粒检测结果转图像 - 生成带颗粒标记的点云图像 (直接返回QImage) + static QImage GeneratePointCloudImageWithParticles( + const std::vector>& scanLines, + const std::vector& particles, + int cameraIndex); + + // WheelMeasure点云和轮眉检测结果转图像 - 生成带轮眉标记的点云图像 + static QImage GenerateWheelArchImage( + const std::vector>& scanLines, + const SVzNL3DPoint& wheelArchPos, + const SVzNL3DPoint& wheelUpPos, + const SVzNL3DPoint& wheelDownPos, + double archToCenterHeight, + bool hasResult = true); + + // 从检测数据缓存生成深度图像 + static int GenerateDepthImage( + const std::vector>& detectionDataCache, + QImage& outImage); + + // 通道间距测量图像生成 - 根据算法标记的nPointIdx着色 + // 参考 HC_chanelSpaceMeasure_test.cpp 的 _outputRGBDScan_RGBD 函数 + // nPointIdx > 0: 使用预定义的8种颜色, 否则使用灰色 + static QImage GenerateChannelSpaceImage( + const std::vector>& scanLines, + int imageWidth = 1056, int imageHeight = 992); + +private: + // 定义线特征颜色和大小获取函数 + static void GetLineFeatureStyle(int vType, int hType, int objId, + QColor& pointColor, int& pointSize); + + // 获取对象颜色 + static QColor GetObjectColor(int index); + + // 计算点云范围 + static void CalculatePointCloudRange(SVzNL3DLaserLine* scanData, int lineNum, + double& xMin, double& xMax, + double& yMin, double& yMax); + + // 计算scan lines格式点云的范围 + static void CalculateScanLinesRange(const std::vector>& scanLines, + double& xMin, double& xMax, + double& yMin, double& yMax); + + // 绘制LapWeld检测结果 + static void DrawLapWeldResults(QPainter& painter, + const std::vector>& weldResults, + double xMin, double xMax, double yMin, double yMax, + int imageWidth, int imageHeight); + + // 绘制scan lines点云数据 + static void DrawScanLinesPointCloud(QPainter& painter, + const std::vector>& scanLines, + double xMin, double xMax, double yMin, double yMax, + int imageWidth, int imageHeight); + + // 绘制检测目标（使用通用结构体） + static void DrawDetectionTargets(QPainter& painter, + const std::vector& objOps, + double xMin, double xScale, int xSkip, + double yMin, double yScale, int ySkip, + int imgCols, int imgRows); +}; + +#endif // POINTCLOUDIMAGEUTILS_H diff --git a/CloudUtils/Src/LaserDataLoader.cpp b/CloudUtils/Src/LaserDataLoader.cpp new file mode 100644 index 0000000..d0fed29 --- /dev/null +++ b/CloudUtils/Src/LaserDataLoader.cpp @@ -0,0 +1,554 @@ +#include "LaserDataLoader.h" +#include +#include +#include +#include +#include +#include +#include +#include "VrLog.h" +#include + +// 辅助函数：去除字符串末尾的 \r 字符（处理 Windows 格式的 CR LF 换行符） +static inline void TrimCarriageReturn(std::string& str) +{ + if (!str.empty() && str.back() == '\r') { + str.pop_back(); + } +} + +LaserDataLoader::LaserDataLoader() +{ + m_lastError.clear(); +} + +LaserDataLoader::~LaserDataLoader() +{ +} + +int LaserDataLoader::LoadLaserScanData(const std::string& fileName, + std::vector>& laserLines, + int& lineNum, + float& scanSpeed, + int& maxTimeStamp, + int& clockPerSecond) +{ + LOG_INFO("Loading laser scan data from file: %s\n", fileName.c_str()); + + // 清空输出参数 + laserLines.clear(); + lineNum = 0; + scanSpeed = 0.0f; + maxTimeStamp = 0; + clockPerSecond = 0; + + // 判断文件类型 + std::ifstream inputFile(fileName); + if (!inputFile.is_open()) { + m_lastError = "Cannot open file: " + fileName; + LOG_ERROR("Cannot open file: %s\n", fileName.c_str()); + return ERR_CODE(FILE_ERR_NOEXIST); + } + + std::string line; + int result = SUCCESS; + + // 包含DataType字段，检查数据类型 + EVzResultDataType eDataType = keResultDataType_Invalid; + result = _GetLaserType(fileName, eDataType); + ERR_CODE_RETURN(result); + + LOG_INFO("Laser data type: %d \n", eDataType); + + SVzLaserLineData sLaserData; + memset(&sLaserData, 0, sizeof(SVzLaserLineData)); + + bool bFindLineNum = true; + int nLaserPointIdx = 0; + + while (std::getline(inputFile, line)) { + // 去除行末的 \r 字符（处理 Windows 格式的 CR LF 换行符） + TrimCarriageReturn(line); + + if (line.find("LineNum:") == 0) { + sscanf(line.c_str(), "LineNum:%d", &lineNum); + } else if (line.find("DataType:") == 0) { + + } else if (line.find("Line_") == 0) { + + if(false == bFindLineNum) { + laserLines.push_back(std::make_pair(eDataType, sLaserData)); + } + + int lineIndex; + unsigned int timeStamp; + int ptNum = 0; + sscanf(line.c_str(), "Line_%d_%u_%d", &lineIndex, &timeStamp, &ptNum); + + sLaserData.llFrameIdx = lineIndex; + sLaserData.llTimeStamp = timeStamp; + sLaserData.nPointCount = ptNum; + if (eDataType == keResultDataType_PointXYZRGBA) { + sLaserData.p3DPoint = new SVzNLPointXYZRGBA[ptNum]; + sLaserData.p2DPoint = new SVzNL2DLRPoint[ptNum]; + memset(sLaserData.p3DPoint, 0, sizeof(SVzNLPointXYZRGBA) * ptNum); + memset(sLaserData.p2DPoint, 0, sizeof(SVzNL2DLRPoint) * ptNum); + } else if(eDataType == keResultDataType_Position) { + sLaserData.p3DPoint = new SVzNL3DPosition[ptNum]; + sLaserData.p2DPoint = new SVzNL2DPosition[ptNum]; + memset(sLaserData.p3DPoint, 0, sizeof(SVzNL3DPosition) * ptNum); + memset(sLaserData.p2DPoint, 0, sizeof(SVzNL2DPosition) * ptNum); + } + nLaserPointIdx = 0; + bFindLineNum = false; + + } else if (line.find("{") == 0) { + // 使用正则表达式判断是XYZ还是RGBD格式 + // XYZ格式: {x,y,z}-{leftX,leftY}-{rightX,rightY} + // RGBD格式: {x,y,z,r,g,b}-{leftX,leftY}-{rightX,rightY} + + // 更精确的正则表达式，匹配完整的行格式 + if(sLaserData.p3DPoint == nullptr || sLaserData.p2DPoint == nullptr) { + LOG_ERROR("sLaserData.p3DPoint == nullptr || sLaserData.p2DPoint == nullptr \n"); + return ERR_CODE(DATA_ERR_INVALID); + } + + if (eDataType == keResultDataType_PointXYZRGBA) { + SVzNLPointXYZRGBA* pRGBAPoints = static_cast(sLaserData.p3DPoint); + SVzNL2DLRPoint* p2DPoints = static_cast(sLaserData.p2DPoint); + _ParseLaserScanPoint(line, pRGBAPoints[nLaserPointIdx], p2DPoints[nLaserPointIdx]); + nLaserPointIdx++; + } else { + SVzNL3DPosition* p3DPoints = static_cast(sLaserData.p3DPoint); + SVzNL2DPosition* p2DPoints = static_cast(sLaserData.p2DPoint); + _ParseLaserScanPoint(line, p3DPoints[nLaserPointIdx], p2DPoints[nLaserPointIdx]); + p3DPoints[nLaserPointIdx].nPointIdx = nLaserPointIdx; + nLaserPointIdx++; + } + } + } + + // 添加最后一条扫描线数据 + if (!bFindLineNum) { + laserLines.push_back(std::make_pair(eDataType, sLaserData)); + } + + inputFile.close(); + LOG_INFO("Successfully loaded %d laser scan lines from file: %s\n", lineNum, fileName.c_str()); + return SUCCESS; +} + +// 保存激光扫描数据到文件 - 统一接口，支持两种类型的数据 +int LaserDataLoader::SaveLaserScanData(const std::string& fileName, + const std::vector>& laserLines, + int lineNum, + float scanSpeed, + int maxTimeStamp, + int clockPerSecond) +{ + LOG_INFO("Saving unified laser scan data to file: %s\n", fileName.c_str()); + + if (laserLines.empty() || lineNum <= 0) { + m_lastError = "Invalid input parameters for saving unified data"; + LOG_ERROR("Invalid parameters for saving unified laser data\n"); + return ERR_CODE(DEV_ARG_INVAILD); + } + + try { + std::ofstream sw(fileName); + if (!sw.is_open()) { + m_lastError = "Cannot open file for writing: " + fileName; + LOG_ERROR("Cannot open file for writing: %s\n", fileName.c_str()); + return ERR_CODE(FILE_ERR_WRITE); + } + + // 写入文件头 + sw << "LineNum:" << lineNum << std::endl; + sw << "DataType: 0" << std::endl; + sw << "ScanSpeed:" << scanSpeed << std::endl; + sw << "PointAdjust: 1" << std::endl; + sw << "MaxTimeStamp:" << maxTimeStamp << "_" << clockPerSecond << std::endl; + + // 写入每条扫描线数据 + for (const auto& linePair : laserLines) { + + EVzResultDataType dataType = linePair.first; + const SVzLaserLineData& lineData = linePair.second; + + sw << "Line_" << lineData.llFrameIdx << "_" << lineData.llTimeStamp << "_" << lineData.nPointCount << std::endl; + + // 根据数据类型写入点云数据 + if (dataType == keResultDataType_Position && lineData.p3DPoint) { + // 写入XYZ格式数据 + const SVzNL3DPosition* points = static_cast(lineData.p3DPoint); + const SVzNL2DPosition* points2D = static_cast(lineData.p2DPoint); + for (int i = 0; i < lineData.nPointCount; i++) { + float x = static_cast(points[i].pt3D.x); + float y = static_cast(points[i].pt3D.y); + float z = static_cast(points[i].pt3D.z); + sw << "{ " << std::fixed << std::setprecision(6) << x << "," << y << "," << z << " }-"; + sw << "{ " << points2D[i].ptLeft2D.x << "," << points2D[i].ptLeft2D.y << " }-"; + sw << "{ " << points2D[i].ptRight2D.x << "," << points2D[i].ptRight2D.y << " }" << std::endl; + } + } else if (dataType == keResultDataType_PointXYZRGBA && lineData.p3DPoint) { + // 写入RGBD格式数据 + const SVzNLPointXYZRGBA* points = static_cast(lineData.p3DPoint); + const SVzNL2DLRPoint* points2D = static_cast(lineData.p2DPoint); + for (int i = 0; i < lineData.nPointCount; i++) { + float x = static_cast(points[i].x); + float y = static_cast(points[i].y); + float z = static_cast(points[i].z); + int r = (points[i].nRGB >> 16) & 0xFF; + int g = (points[i].nRGB >> 8) & 0xFF; + int b = points[i].nRGB & 0xFF; + + sw << "{" << std::fixed << std::setprecision(6) << x << "," + << std::fixed << std::setprecision(6) << y << "," + << std::fixed << std::setprecision(6) << z << "," + << std::fixed << std::setprecision(6) << b * 1.0f / 255 << "," + << std::fixed << std::setprecision(6) << g * 1.0f / 255 << "," + << std::fixed << std::setprecision(6) << r * 1.0f / 255 << "}-"; + sw << "{ " << points2D[i].sLeft.x << "," << points2D[i].sLeft.y << " }-"; + sw << "{ " << points2D[i].sRight.x << "," << points2D[i].sRight.y << " }" << std::endl; + } + } + } + + sw.close(); + return SUCCESS; + + } catch (const std::exception& e) { + m_lastError = "Error saving unified file: " + std::string(e.what()); + LOG_ERROR("Error saving unified laser data to file: %s\n", e.what()); + return ERR_CODE(FILE_ERR_WRITE); + } +} + +int LaserDataLoader::DebugSaveLaser(std::string fileName, std::vector > xyzData) +{ + LOG_INFO("Saving unified laser scan data to file: %s\n", fileName.c_str()); + + if (xyzData.empty()) { + m_lastError = "Invalid input parameters for saving unified data"; + LOG_ERROR("Invalid parameters for saving unified laser data\n"); + return ERR_CODE(DEV_ARG_INVAILD); + } + + try { + std::ofstream sw(fileName); + if (!sw.is_open()) { + m_lastError = "Cannot open file for writing: " + fileName; + LOG_ERROR("Cannot open file for writing: %s\n", fileName.c_str()); + return ERR_CODE(FILE_ERR_WRITE); + } + + // 写入文件头 + sw << "LineNum:" << xyzData.size() << std::endl; + sw << "DataType: 0" << std::endl; + sw << "ScanSpeed:" << 0 << std::endl; + sw << "PointAdjust: 1" << std::endl; + sw << "MaxTimeStamp:" << 0 << "_" << 0 << std::endl; + + int index = 0; + // 写入每条扫描线数据 + for (const auto& linePair : xyzData) { + sw << "Line_" << index++ << "_" << 0 << "_" << linePair.size() << std::endl; + // 根据数据类型写入点云数据 + for(const auto& point : linePair){ + + // 写入XYZ格式数据 + float x = static_cast(point.pt3D.x); + float y = static_cast(point.pt3D.y); + float z = static_cast(point.pt3D.z); + sw << "{ " + << std::fixed << std::setprecision(6) << x << ", " + << std::fixed << std::setprecision(6) << y << ", " + << std::fixed << std::setprecision(6) << z << " } - "; + sw << "{ 0, 0 } - { 0, 0 }" << std::endl; + } + } + + sw.close(); + return SUCCESS; + + } catch (const std::exception& e) { + m_lastError = "Error saving unified file: " + std::string(e.what()); + LOG_ERROR("Error saving unified laser data to file: %s\n", e.what()); + return ERR_CODE(FILE_ERR_WRITE); + } +} + +void LaserDataLoader::FreeLaserScanData(std::vector>& laserLines) +{ + LOG_DEBUG("Freeing unified laser scan data, line count: %zu\n", laserLines.size()); + + if (!laserLines.empty()) { + for (auto& linePair : laserLines) { + EVzResultDataType dataType = linePair.first; + SVzLaserLineData& lineData = linePair.second; + + if (lineData.p3DPoint) { + delete[] lineData.p3DPoint; + lineData.p3DPoint = nullptr; + } + + if (lineData.p2DPoint) { + delete[] lineData.p2DPoint; + lineData.p2DPoint = nullptr; + } + } + laserLines.clear(); + } + + LOG_DEBUG("Unified laser scan data freed successfully\n"); +} + +// 转换统一格式数据为std::vector>格式 +int LaserDataLoader::ConvertToSVzNL3DPosition(const std::vector>& unifiedData, + std::vector>& scanLines, + size_t* validPointCount) +{ + LOG_DEBUG("Converting unified data to scan lines format\n"); + + scanLines.clear(); + + // 初始化有效点计数 + size_t validCount = 0; + + // 浮点数零值判断阈值 + const double EPSILON = 1e-6; + + for (const auto& linePair : unifiedData) { + EVzResultDataType dataType = linePair.first; + const SVzLaserLineData& lineData = linePair.second; + + // 只处理Position类型的数据 + if (dataType == keResultDataType_Position && lineData.p3DPoint) { + std::vector scanLine; + + // 为当前扫描线分配空间 + scanLine.reserve(lineData.nPointCount); + + // 复制点数据并统计有效点 + const SVzNL3DPosition* points = static_cast(lineData.p3DPoint); + for (int i = 0; i < lineData.nPointCount; i++) { + scanLine.push_back(points[i]); + + // 统计有效点（xyz全非0，使用epsilon阈值判断） + if (std::fabs(points[i].pt3D.x) > EPSILON && + std::fabs(points[i].pt3D.y) > EPSILON && + std::fabs(points[i].pt3D.z) > EPSILON) { + validCount++; + } + } + + scanLines.push_back(scanLine); + } + } + + // 返回有效点计数（如果调用者需要） + if (validPointCount) { + *validPointCount = validCount; + } + + LOG_DEBUG("Converted %zu lines to scan lines format, valid points: %zu\n", scanLines.size(), validCount); + return SUCCESS; +} + +// 转换统一格式数据为SVzNL3DLaserLine格式 +int LaserDataLoader::ConvertToSVzNL3DLaserLine(const std::vector>& unifiedData, + std::vector& xyzData) +{ + xyzData.clear(); + + for (const auto& linePair : unifiedData) { + EVzResultDataType dataType = linePair.first; + const SVzLaserLineData& lineData = linePair.second; + + // 只处理Position类型的数据 + if (dataType == keResultDataType_Position && lineData.p3DPoint) { + SVzNL3DLaserLine xyzLine; + xyzLine.nTimeStamp = lineData.llTimeStamp; + xyzLine.nPositionCnt = lineData.nPointCount; + + if (lineData.nPointCount > 0) { + xyzLine.p3DPosition = new SVzNL3DPosition[lineData.nPointCount]; + if (xyzLine.p3DPosition) { + memcpy(xyzLine.p3DPosition, lineData.p3DPoint, sizeof(SVzNL3DPosition) * lineData.nPointCount); + } else { + m_lastError = "Memory allocation failed for SVzNL3DPosition"; + LOG_ERROR("Memory allocation failed for SVzNL3DPosition\n"); + return ERR_CODE(DATA_ERR_INVALID); + } + } else { + xyzLine.p3DPosition = nullptr; + } + + xyzData.push_back(xyzLine); + } + } + + LOG_DEBUG("Converted %zu lines to SVzNL3DLaserLine format\n", xyzData.size()); + return SUCCESS; +} + +// 转换统一格式数据为SVzNLXYZRGBDLaserLine格式 +int LaserDataLoader::ConvertToSVzNLXYZRGBDLaserLine(const std::vector>& unifiedData, + std::vector& rgbdData) +{ + LOG_DEBUG("Converting unified data to SVzNLXYZRGBDLaserLine format\n"); + + rgbdData.clear(); + + for (const auto& linePair : unifiedData) { + EVzResultDataType dataType = linePair.first; + const SVzLaserLineData& lineData = linePair.second; + + // 只处理PointXYZRGBA类型的数据 + if (dataType == keResultDataType_PointXYZRGBA && lineData.p3DPoint) { + SVzNLXYZRGBDLaserLine rgbdLine; + rgbdLine.nTimeStamp = lineData.llTimeStamp; + rgbdLine.nPointCnt = lineData.nPointCount; + + if (lineData.nPointCount > 0) { + rgbdLine.p3DPoint = new SVzNLPointXYZRGBA[lineData.nPointCount]; + if (rgbdLine.p3DPoint) { + memcpy(rgbdLine.p3DPoint, lineData.p3DPoint, sizeof(SVzNLPointXYZRGBA) * lineData.nPointCount); + } else { + m_lastError = "Memory allocation failed for SVzNLPointXYZRGBA"; + LOG_ERROR("Memory allocation failed for SVzNLPointXYZRGBA\n"); + return ERR_CODE(DATA_ERR_INVALID); + } + } else { + rgbdLine.p3DPoint = nullptr; + } + + rgbdData.push_back(rgbdLine); + } + } + + LOG_DEBUG("Converted %zu lines to SVzNLXYZRGBDLaserLine format\n", rgbdData.size()); + return SUCCESS; +} + +// 释放转换后的SVzNL3DLaserLine数据内存 +void LaserDataLoader::FreeConvertedData(std::vector& xyzData) +{ + LOG_DEBUG("Freeing converted SVzNL3DLaserLine data, line count: %zu\n", xyzData.size()); + + if (!xyzData.empty()) { + for (auto& scanLine : xyzData) { + if (scanLine.p3DPosition) { + delete[] scanLine.p3DPosition; + scanLine.p3DPosition = nullptr; + } + } + xyzData.clear(); + } + + LOG_DEBUG("Converted SVzNL3DLaserLine data freed successfully\n"); +} + +// 释放转换后的SVzNLXYZRGBDLaserLine数据内存 +void LaserDataLoader::FreeConvertedData(std::vector& rgbdData) +{ + LOG_DEBUG("Freeing converted SVzNLXYZRGBDLaserLine data, line count: %zu\n", rgbdData.size()); + + if (!rgbdData.empty()) { + for (auto& scanLine : rgbdData) { + if (scanLine.p3DPoint) { + delete[] scanLine.p3DPoint; + scanLine.p3DPoint = nullptr; + } + } + rgbdData.clear(); + } + + LOG_DEBUG("Converted SVzNLXYZRGBDLaserLine data freed successfully\n"); +} + + +int LaserDataLoader::_ParseLaserScanPoint(const std::string& data, SVzNL3DPosition& sData, SVzNL2DPosition& s2DData) +{ + float X, Y, Z; + float leftX, leftY; + float rightX, rightY; + sscanf(data.c_str(), "{%f,%f,%f}-{%f,%f}-{%f,%f}", &X, &Y, &Z, &leftX, &leftY, &rightX, &rightY); + sData.pt3D.x = X; + sData.pt3D.y = Y; + sData.pt3D.z = Z; + s2DData.ptLeft2D.x = leftX; + s2DData.ptLeft2D.y = leftY; + s2DData.ptRight2D.x = rightX; + s2DData.ptRight2D.y = rightY; + return SUCCESS; +} + +int LaserDataLoader::_ParseLaserScanPoint(const std::string& data, SVzNLPointXYZRGBA& sData, SVzNL2DLRPoint& s2DData) +{ + float X, Y, Z; + float r, g, b; + float leftX, leftY; + float rightX, rightY; + sscanf(data.c_str(), "{%f,%f,%f,%f,%f,%f}-{%f,%f}-{%f,%f}", &X, &Y, &Z, &r, &g, &b, &leftX, &leftY, &rightX, &rightY); + sData.x = X; + sData.y = Y; + sData.z = Z; + + int nr = (int)(r * 255); + int ng = (int)(g * 255); + int nb = (int)(b * 255); + nb <<= 8; + nb += ng; + nb <<= 8; + nb += nr; + sData.nRGB = nb; + + s2DData.sLeft.x = leftX; + s2DData.sLeft.y = leftY; + s2DData.sRight.x = rightX; + s2DData.sRight.y = rightY; + return SUCCESS; +} + +// 获取激光数据类型 +int LaserDataLoader::_GetLaserType(const std::string& fileName, EVzResultDataType& eDataType) +{ + std::ifstream inputFile(fileName); + std::string linedata; + + if (!inputFile.is_open()) { + m_lastError = "Cannot open file: " + fileName; + return ERR_CODE(FILE_ERR_NOEXIST); + } + + bool bFind = false; + while (std::getline(inputFile, linedata)) { + // 去除行末的 \r 字符（处理 Windows 格式的 CR LF 换行符） + TrimCarriageReturn(linedata); + + if (linedata.find("{") == 0) { + // 修复正则表达式以匹配实际数据格式 + // XYZ格式: {x,y,z}-{leftX,leftY}-{rightX,rightY} + // RGBD格式: {x,y,z,r,g,b}-{leftX,leftY}-{rightX,rightY} + // 更宽松的正则表达式，允许更多的空格变化 + std::regex xyzPattern(R"(\{\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*,\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*,\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*\}\s*-\s*\{\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*,\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*\}\s*-\s*\{\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*,\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*\})"); + std::regex rgbdPattern(R"(\{\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*,\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*,\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*,\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*,\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*,\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*\}\s*-\s*\{\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*,\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*\}\s*-\s*\{\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*,\s*[+-]?(?:\d+\.?\d*|\.\d+)\s*\})"); + + // 先尝试匹配RGBD格式（6个数字） + if (std::regex_match(linedata, rgbdPattern)) { + eDataType = keResultDataType_PointXYZRGBA; + bFind = true; + } + // 再尝试匹配XYZ格式（3个数字） + else if (std::regex_match(linedata, xyzPattern)) { + eDataType = keResultDataType_Position; + bFind = true; + } + break; + } + } + + inputFile.close(); + return bFind ? SUCCESS : ERR_CODE(FILE_ERR_FORMAT); +} diff --git a/CloudUtils/Src/PointCloudImageUtils.cpp b/CloudUtils/Src/PointCloudImageUtils.cpp new file mode 100644 index 0000000..c2dbb1e --- /dev/null +++ b/CloudUtils/Src/PointCloudImageUtils.cpp @@ -0,0 +1,1333 @@ +#include "PointCloudImageUtils.h" +#include +#include +#include +#include +#include "VrLog.h" + +#ifndef PI +#define PI 3.14159265358979323846 +#endif + +// 线特征类型定义 - 用于点云可视化颜色区分 +#ifndef LINE_FEATURE_UNDEF +#define LINE_FEATURE_UNDEF 0 +#define LINE_FEATURE_L_JUMP_H2L 1 +#define LINE_FEATURE_L_JUMP_L2H 2 +#define LINE_FEATURE_L_SLOPE_H2L 3 +#define LINE_FEATURE_L_SLOPE_L2H 4 +#define LINE_FEATURE_V_SLOPE 5 +#define LINE_FEATURE_LINE_ENDING_0 6 +#define LINE_FEATURE_LINE_ENDING_1 7 +#endif + +QImage PointCloudImageUtils::GeneratePointCloudImage(SVzNL3DLaserLine* scanData, + int lineNum, + const std::vector& objOps) +{ + if (!scanData || lineNum <= 0) { + return QImage(); // 返回空图像 + } + + // 统计X和Y的范围 + double xMin = 0.0, xMax = -1.0; + double yMin = 0.0, yMax = -1.0; + CalculatePointCloudRange(scanData, lineNum, xMin, xMax, yMin, yMax); + + // 检查范围是否有效 + if (xMax < xMin || yMax < yMin) { + return QImage(); // 返回空图像 + } + + // 创建图像 + int imgRows = 992; + int imgCols = 1056; + int x_skip = 16; + int y_skip = 16; + + // 计算投影比例 + double y_rows = (double)(imgRows - y_skip * 2); + double x_cols = (double)(imgCols - x_skip * 2); + double x_scale = (xMax - xMin) / x_cols; + double y_scale = (yMax - yMin) / y_rows; + if (x_scale < y_scale) + x_scale = y_scale; + else + y_scale = x_scale; + + QImage image(imgCols, imgRows, QImage::Format_RGB888); + image.fill(Qt::black); + QPainter painter(&image); + + // 绘制点云 + for (int line = 0; line < lineNum; line++) { + for (int i = 0; i < scanData[line].nPositionCnt; i++) { + SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i]; + if (pt3D->pt3D.z < 1e-4) continue; + + // 解析点索引信息 + int vType = pt3D->nPointIdx & 0xff; + int hType = vType >> 4; + int objId = (pt3D->nPointIdx >> 16) & 0xff; + vType = vType & 0x0f; + + // 根据线特征类型确定颜色和大小 + QColor pointColor; + int pointSize = 1; + GetLineFeatureStyle(vType, hType, objId, pointColor, pointSize); + + int px = (int)((pt3D->pt3D.x - xMin) / x_scale + x_skip); + int py = (int)((pt3D->pt3D.y - yMin) / y_scale + y_skip); + + if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) { + painter.setPen(QPen(pointColor, 1)); + painter.drawPoint(px, py); + } + } + } + + // 绘制检测目标和方向线 + DrawDetectionTargets(painter, objOps, xMin, x_scale, x_skip, yMin, y_scale, y_skip, imgCols, imgRows); + + return image; +} + +QImage PointCloudImageUtils::GeneratePointCloudImage(SVzNLXYZRGBDLaserLine* scanData, + int lineNum, + const std::vector& objOps) +{ + int imgRows = 992; + int imgCols = 1056; + QImage image(imgCols, imgRows, QImage::Format_RGB888); + image.fill(Qt::black); + + if (!scanData || lineNum <= 0) { + return image; // 返回空图像 + } + + // 统计X和Y的范围 + double xMin = 0.0, xMax = -1.0; + double yMin = 0.0, yMax = -1.0; + + for (int line = 0; line < lineNum; line++) { + for (int i = 0; i < scanData[line].nPointCnt; i++) { + SVzNLPointXYZRGBA* pt3D = &scanData[line].p3DPoint[i]; + if (pt3D->z < 1e-4) continue; + + // 更新X范围 + if (xMax < xMin) { + xMin = xMax = pt3D->x; + } else { + if (xMin > pt3D->x) xMin = pt3D->x; + if (xMax < pt3D->x) xMax = pt3D->x; + } + + // 更新Y范围 + if (yMax < yMin) { + yMin = yMax = pt3D->y; + } else { + if (yMin > pt3D->y) yMin = pt3D->y; + if (yMax < pt3D->y) yMax = pt3D->y; + } + } + } + + // 检查范围是否有效 + if (xMax < xMin || yMax < yMin) { + return image; // 返回空图像 + } + + // 创建图像 + int x_skip = 16; + int y_skip = 16; + double y_rows = (double)(imgRows - y_skip * 2); + double x_cols = (double)(imgCols - x_skip * 2); + + // 计算投影比例 + double x_scale = (xMax - xMin) / x_cols; + double y_scale = (yMax - yMin) / y_rows; + if (x_scale < y_scale) + x_scale = y_scale; + else + y_scale = x_scale; + + QPainter painter(&image); + + // 绘制点云 + for (int line = 0; line < lineNum; line++) { + for (int i = 0; i < scanData[line].nPointCnt; i++) { + SVzNLPointXYZRGBA* pt3D = &scanData[line].p3DPoint[i]; + if (pt3D->z < 1e-4) continue; + + // 解析RGB颜色 + int nRGB = pt3D->nRGB; + int r = nRGB & 0xff; + nRGB >>= 8; + int g = nRGB & 0xff; + nRGB >>= 8; + int b = nRGB & 0xff; + + QColor pointColor(r, g, b); + + int px = (int)((pt3D->x - xMin) / x_scale + x_skip); + int py = (int)((pt3D->y - yMin) / y_scale + y_skip); + + if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) { + painter.setPen(QPen(pointColor, 1)); + painter.drawPoint(px, py); + } + } + } + + // 绘制检测目标和方向线 + DrawDetectionTargets(painter, objOps, xMin, x_scale, x_skip, yMin, y_scale, y_skip, imgCols, imgRows); + + return image; +} + +// 新的点云图像生成函数 - 基于X、Y范围创建图像 +QImage PointCloudImageUtils::GeneratePointCloudImage(SVzNLXYZRGBDLaserLine* scanData, int lineNum) +{ + if (!scanData || lineNum <= 0) { + return QImage(); + } + + // 1. 遍历X, Y的范围，计算最小和最大值 + double xMin = std::numeric_limits::max(); + double xMax = std::numeric_limits::lowest(); + double yMin = std::numeric_limits::max(); + double yMax = std::numeric_limits::lowest(); + + for (int i = 0; i < lineNum; i++) { + if (scanData[i].p3DPoint && scanData[i].nPointCnt > 0) { + for (int j = 0; j < scanData[i].nPointCnt; j++) { + const SVzNLPointXYZRGBA& point = scanData[i].p3DPoint[j]; + + // 更新X范围 + if (point.x < xMin) xMin = point.x; + if (point.x > xMax) xMax = point.x; + + // 更新Y范围 + if (point.y < yMin) yMin = point.y; + if (point.y > yMax) yMax = point.y; + } + } + } + + // 检查范围是否有效 + if (xMin >= xMax || yMin >= yMax) { + return QImage(); + } + + // 2. 根据范围创建图像大小 + // 设置图像分辨率，可以根据需要调整 + const int imageWidth = xMax - xMin; + const int imageHeight = yMax - yMin; + + + // 3. 创建默认黑底图像 + QImage image(imageWidth, imageHeight, QImage::Format_RGB888); + image.fill(Qt::black); + + // 4. 遍历点云数据，将3D X, Y对应的颜色值赋值给图像 + for (int i = 0; i < lineNum; i++) { + if (scanData[i].p3DPoint && scanData[i].nPointCnt > 0) { + for (int j = 0; j < scanData[i].nPointCnt; j++) { + const SVzNLPointXYZRGBA& point = scanData[i].p3DPoint[j]; + + // 将3D坐标转换为图像坐标 + int imageX = static_cast((point.x - xMin)); + int imageY = static_cast((point.y - yMin)); + + // 确保坐标在图像范围内 + if (imageX >= 0 && imageX < imageWidth && + imageY >= 0 && imageY < imageHeight) { + + // 解析RGB颜色 - 参考_RGBDto2DImage函数的解析方式 + int nRGB = point.nRGB; + int r = nRGB & 0xff; + nRGB >>= 8; + int g = nRGB & 0xff; + nRGB >>= 8; + int b = nRGB & 0xff; + + QColor pointColor(r, g, b); + // 设置图像像素颜色 + image.setPixel(imageX, imageY, pointColor.rgb()); + } + } + } + } + + return image; +} + +void PointCloudImageUtils::GetLineFeatureStyle(int vType, int hType, int objId, + QColor& pointColor, int& pointSize) +{ + pointSize = 1; + + // 优先根据垂直方向特征设置颜色 + if (LINE_FEATURE_L_JUMP_H2L == vType) { + pointColor = QColor(255, 97, 0); // 橙色 + pointSize = 2; + } + else if (LINE_FEATURE_L_JUMP_L2H == vType) { + pointColor = QColor(255, 255, 0); // 黄色 + pointSize = 2; + } + else if (LINE_FEATURE_V_SLOPE == vType) { + pointColor = QColor(255, 0, 255); // 紫色 + pointSize = 2; + } + else if (LINE_FEATURE_L_SLOPE_H2L == vType) { + pointColor = QColor(160, 82, 45); // 褐色 + pointSize = 2; + } + else if ((LINE_FEATURE_LINE_ENDING_0 == vType) || (LINE_FEATURE_LINE_ENDING_1 == vType)) { + pointColor = QColor(255, 0, 0); // 红色 + pointSize = 2; + } + else if (LINE_FEATURE_L_SLOPE_L2H == vType) { + pointColor = QColor(233, 150, 122); // 浅褐色 + pointSize = 2; + } + // 检查水平方向特征 + else if (LINE_FEATURE_L_JUMP_H2L == hType) { + pointColor = QColor(0, 0, 255); // 蓝色 + pointSize = 2; + } + else if (LINE_FEATURE_L_JUMP_L2H == hType) { + pointColor = QColor(0, 255, 255); // 青色 + pointSize = 2; + } + else if (LINE_FEATURE_V_SLOPE == hType) { + pointColor = QColor(0, 255, 0); // 绿色 + pointSize = 2; + } + else if (LINE_FEATURE_L_SLOPE_H2L == hType) { + pointColor = QColor(85, 107, 47); // 橄榄绿 + pointSize = 2; + } + else if (LINE_FEATURE_L_SLOPE_L2H == hType) { + pointColor = QColor(0, 255, 154); // 浅绿色 + pointSize = 2; + } + else if ((LINE_FEATURE_LINE_ENDING_0 == hType) || (LINE_FEATURE_LINE_ENDING_1 == hType)) { + pointColor = QColor(255, 0, 0); // 红色 + pointSize = 3; + } + // 检查是否为目标对象 + else if (objId > 0) { + pointColor = GetObjectColor(objId); + pointSize = 1; + } + // 默认颜色 + else { + pointColor = QColor(150, 150, 150); // 深灰色 + pointSize = 1; + } +} + +QColor PointCloudImageUtils::GetObjectColor(int index) +{ + QColor objColors[8] = { + QColor(245,222,179), QColor(210,105,30), QColor(240,230,140), QColor(135,206,235), + QColor(250,235,215), QColor(189,252,201), QColor(221,160,221), QColor(188,143,143) + }; + + return objColors[index % 8]; +} + +void PointCloudImageUtils::CalculatePointCloudRange(SVzNL3DLaserLine* scanData, int lineNum, + double& xMin, double& xMax, + double& yMin, double& yMax) +{ + xMin = 0.0; xMax = -1.0; + yMin = 0.0; yMax = -1.0; + + for (int line = 0; line < lineNum; line++) { + for (int i = 0; i < scanData[line].nPositionCnt; i++) { + SVzNL3DPosition* pt3D = &scanData[line].p3DPosition[i]; + if (pt3D->pt3D.z < 1e-4) continue; + + // 更新X范围 + if (xMax < xMin) { + xMin = xMax = pt3D->pt3D.x; + } else { + if (xMin > pt3D->pt3D.x) xMin = pt3D->pt3D.x; + if (xMax < pt3D->pt3D.x) xMax = pt3D->pt3D.x; + } + + // 更新Y范围 + if (yMax < yMin) { + yMin = yMax = pt3D->pt3D.y; + } else { + if (yMin > pt3D->pt3D.y) yMin = pt3D->pt3D.y; + if (yMax < pt3D->pt3D.y) yMax = pt3D->pt3D.y; + } + } + } +} + +void PointCloudImageUtils::DrawDetectionTargets(QPainter& painter, + const std::vector& objOps, + double xMin, double xScale, int xSkip, + double yMin, double yScale, int ySkip, + int imgCols, int imgRows) +{ + // 绘制检测目标和方向线 + for (size_t i = 0; i < objOps.size(); i++) { + QColor objColor = (i == 0) ? QColor(255, 0, 0) : QColor(255, 255, 0); + int size = (i == 0) ? 20 : 10; + + int px = (int)((objOps[i].centerPos.x - xMin) / xScale + xSkip); + int py = (int)((objOps[i].centerPos.y - yMin) / yScale + ySkip); + + if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) { + // 绘制抓取点圆圈 + painter.setPen(QPen(objColor, 2)); + painter.setBrush(QBrush(objColor)); + painter.drawEllipse(px - size/2, py - size/2, size, size); + + // 绘制方向线 + const double deg2rad = PI / 180.0; + + // 使用检测目标实际2D尺寸的较大值的一半作为方向线长度 + double maxSize = std::max(objOps[i].objSize.dHeight, objOps[i].objSize.dWidth); + double R = std::max(20.0, maxSize / 6.0); + + const double yaw = objOps[i].centerPos.z_yaw * deg2rad; + double cy = cos(yaw); + double sy = sin(yaw); + + // 计算方向线的端点 + double x1 = objOps[i].centerPos.x + R * cy; + double y1 = objOps[i].centerPos.y - R * sy; + double x2 = objOps[i].centerPos.x - R * cy; + double y2 = objOps[i].centerPos.y + R * sy; + + int px1 = (int)((x1 - xMin) / xScale + xSkip); + int py1 = (int)((y1 - yMin) / yScale + ySkip); + int px2 = (int)((x2 - xMin) / xScale + xSkip); + int py2 = (int)((y2 - yMin) / yScale + ySkip); + + // 绘制方向线 + painter.setPen(QPen(objColor, 2)); + painter.drawLine(px1, py1, px2, py2); + + // 根据orienFlag绘制箭头 + if (objOps[i].orienFlag == 1) { + // 绿色箭头 - 正面 + painter.setPen(QPen(QColor(0, 255, 0), 2)); + + // 计算箭头端点 + double arrowLen = R / 3; + double arrowAngle = 30 * deg2rad; + double ca = cos(arrowAngle); + double sa = sin(arrowAngle); + + double x3 = x1 - arrowLen * ca * cy + arrowLen * sa * sy; + double y3 = y1 + arrowLen * ca * sy + arrowLen * sa * cy; + double x4 = x1 - arrowLen * ca * cy - arrowLen * sa * sy; + double y4 = y1 + arrowLen * ca * sy - arrowLen * sa * cy; + + int px3 = (int)((x3 - xMin) / xScale + xSkip); + int py3 = (int)((y3 - yMin) / yScale + ySkip); + int px4 = (int)((x4 - xMin) / xScale + xSkip); + int py4 = (int)((y4 - yMin) / yScale + ySkip); + + painter.drawLine(px1, py1, px3, py3); + painter.drawLine(px1, py1, px4, py4); + } + else if (objOps[i].orienFlag == 2) { + // 蓝色箭头 - 反面 + painter.setPen(QPen(QColor(0, 0, 255), 2)); + + // 计算箭头端点 + double arrowLen = R / 3; + double arrowAngle = 30 * deg2rad; + double ca = cos(arrowAngle); + double sa = sin(arrowAngle); + + double x3 = x1 - arrowLen * ca * cy + arrowLen * sa * sy; + double y3 = y1 + arrowLen * ca * sy + arrowLen * sa * cy; + double x4 = x1 - arrowLen * ca * cy - arrowLen * sa * sy; + double y4 = y1 + arrowLen * ca * sy - arrowLen * sa * cy; + + int px3 = (int)((x3 - xMin) / xScale + xSkip); + int py3 = (int)((y3 - yMin) / yScale + ySkip); + int px4 = (int)((x4 - xMin) / xScale + xSkip); + int py4 = (int)((y4 - yMin) / yScale + ySkip); + + painter.drawLine(px1, py1, px3, py3); + painter.drawLine(px1, py1, px4, py4); + } + + // 绘制目标编号 + painter.setPen(QPen(Qt::white, 1)); + painter.setFont(QFont("Arial", 15, QFont::Bold)); + painter.drawText(px + 15, py - 10, QString("%1").arg(i + 1)); + } + } +} + +QImage PointCloudImageUtils::GeneratePointCloudImage(const std::vector>& scanLines, + const std::vector>& weldResults, + int imageWidth, int imageHeight) +{ + if (scanLines.empty()) { + return QImage(); + } + + // 计算点云范围 + double xMin, xMax, yMin, yMax; + CalculateScanLinesRange(scanLines, xMin, xMax, yMin, yMax); + + // 检查范围是否有效 + if (xMax <= xMin || yMax <= yMin) { + return QImage(); + } + + // 创建图像 + QImage image(imageWidth, imageHeight, QImage::Format_RGB888); + image.fill(Qt::black); + + QPainter painter(&image); + + // 绘制点云数据 + DrawScanLinesPointCloud(painter, scanLines, xMin, xMax, yMin, yMax, imageWidth, imageHeight); + + // 绘制检测结果 + DrawLapWeldResults(painter, weldResults, xMin, xMax, yMin, yMax, imageWidth, imageHeight); + + return image; +} + +void PointCloudImageUtils::CalculateScanLinesRange(const std::vector>& scanLines, + double& xMin, double& xMax, + double& yMin, double& yMax) +{ + xMin = std::numeric_limits::max(); + xMax = std::numeric_limits::lowest(); + yMin = std::numeric_limits::max(); + yMax = std::numeric_limits::lowest(); + + for (const auto& scanLine : scanLines) { + for (const auto& point : scanLine) { + if (point.pt3D.z < 1e-4) continue; + + if (point.pt3D.x < xMin) xMin = point.pt3D.x; + if (point.pt3D.x > xMax) xMax = point.pt3D.x; + if (point.pt3D.y < yMin) yMin = point.pt3D.y; + if (point.pt3D.y > yMax) yMax = point.pt3D.y; + } + } +} + +void PointCloudImageUtils::DrawScanLinesPointCloud(QPainter& painter, + const std::vector>& scanLines, + double xMin, double xMax, double yMin, double yMax, + int imageWidth, int imageHeight) +{ + double xScale = (xMax - xMin) / imageWidth; + double yScale = (yMax - yMin) / imageHeight; + + for (const auto& scanLine : scanLines) { + for (const auto& point : scanLine) { + if (point.pt3D.z < 1e-4) continue; + + // 解析点索引信息 + int vType = point.nPointIdx & 0xff; + int hType = vType >> 4; + int objId = (point.nPointIdx >> 16) & 0xff; + vType = vType & 0x0f; + + // 根据线特征类型确定颜色和大小 + QColor pointColor; + int pointSize = 1; + GetLineFeatureStyle(vType, hType, objId, pointColor, pointSize); + + // 计算图像坐标 + int px = (int)((point.pt3D.x - xMin) / xScale); + int py = (int)((point.pt3D.y - yMin) / yScale); + + if (px >= 0 && px < imageWidth && py >= 0 && py < imageHeight) { + painter.setPen(QPen(pointColor, pointSize)); + painter.drawPoint(px, py); + } + } + } +} + +void PointCloudImageUtils::DrawLapWeldResults(QPainter& painter, + const std::vector>& weldResults, + double xMin, double xMax, double yMin, double yMax, + int imageWidth, int imageHeight) +{ + if (weldResults.empty()) return; + + double xScale = (xMax - xMin) / imageWidth; + double yScale = (yMax - yMin) / imageHeight; + + // 使用不同颜色绘制每条焊缝 + QColor weldColors[] = { + QColor(255, 0, 0), // 红色 + QColor(0, 255, 0), // 绿色 + QColor(0, 0, 255), // 蓝色 + QColor(255, 255, 0), // 黄色 + QColor(255, 0, 255), // 紫色 + QColor(0, 255, 255), // 青色 + QColor(255, 128, 0), // 橙色 + QColor(128, 255, 0) // 浅绿色 + }; + int numColors = sizeof(weldColors) / sizeof(weldColors[0]); + + for (size_t i = 0; i < weldResults.size(); i++) { + const auto& weldLine = weldResults[i]; + if (weldLine.empty()) continue; + + QColor weldColor = weldColors[i % numColors]; + painter.setPen(QPen(weldColor, 3)); + + // 绘制焊缝线段 + for (size_t j = 1; j < weldLine.size(); j++) { + int px1 = (int)((weldLine[j-1].x - xMin) / xScale); + int py1 = (int)((weldLine[j-1].y - yMin) / yScale); + int px2 = (int)((weldLine[j].x - xMin) / xScale); + int py2 = (int)((weldLine[j].y - yMin) / yScale); + + if (px1 >= 0 && px1 < imageWidth && py1 >= 0 && py1 < imageHeight && + px2 >= 0 && px2 < imageWidth && py2 >= 0 && py2 < imageHeight) { + painter.drawLine(px1, py1, px2, py2); + } + } + + // 在起点和终点绘制标记 + if (!weldLine.empty()) { + // 起点标记 - 圆形 + int startX = (int)((weldLine[0].x - xMin) / xScale); + int startY = (int)((weldLine[0].y - yMin) / yScale); + if (startX >= 0 && startX < imageWidth && startY >= 0 && startY < imageHeight) { + painter.setPen(QPen(weldColor, 2)); + painter.setBrush(QBrush(weldColor)); + painter.drawEllipse(startX - 5, startY - 5, 10, 10); + } + + // 终点标记 - 方形 + int endX = (int)((weldLine.back().x - xMin) / xScale); + int endY = (int)((weldLine.back().y - yMin) / yScale); + if (endX >= 0 && endX < imageWidth && endY >= 0 && endY < imageHeight) { + painter.setPen(QPen(weldColor, 2)); + painter.setBrush(QBrush(weldColor)); + painter.drawRect(endX - 4, endY - 4, 8, 8); + } + } + } +} + +// Workpiece点云和角点检测结果转图像 - 将角点画成圆点 +QImage PointCloudImageUtils::GeneratePointCloudRetPointImage(const std::vector>& scanLines, + const std::vector>& cornerPoints, + double margin) +{ + if (scanLines.empty()) { + return QImage(); + } + + // 固定图像尺寸，与其他函数保持一致 + int imgRows = 992; + int imgCols = 1056; + int x_skip = 50; + int y_skip = 50; + + // 计算点云范围 + double xMin, xMax, yMin, yMax; + CalculateScanLinesRange(scanLines, xMin, xMax, yMin, yMax); + + // 检查范围是否有效 + if (xMax <= xMin || yMax <= yMin) { + return QImage(); + } + + // 在3D范围上扩展边界（如果指定） + if (margin > 0.0) { + xMin -= margin; + xMax += margin; + yMin -= margin; + yMax += margin; + } + + // 创建图像 + QImage image(imgCols, imgRows, QImage::Format_RGB888); + image.fill(Qt::black); + + QPainter painter(&image); + + // 计算投影比例 + double y_rows = (double)(imgRows - y_skip * 2); + double x_cols = (double)(imgCols - x_skip * 2); + double x_scale = (xMax - xMin) / x_cols; + double y_scale = (yMax - yMin) / y_rows; + + // 使用统一的比例尺，并计算居中偏移 + double scale = std::max(x_scale, y_scale); + x_scale = scale; + y_scale = scale; + + // 计算点云在图像中居中的偏移量 + double cloudWidth = (xMax - xMin) / scale; // 点云在图像中的像素宽度 + double cloudHeight = (yMax - yMin) / scale; // 点云在图像中的像素高度 + int x_offset = x_skip + (int)((x_cols - cloudWidth) / 2); // X方向居中偏移 + int y_offset = y_skip + (int)((y_rows - cloudHeight) / 2); // Y方向居中偏移 + + // 绘制点云数据 + for (const auto& scanLine : scanLines) { + for (const auto& point : scanLine) { + if (point.pt3D.z < 1e-4) continue; + + // 解析点索引信息 + int vType = point.nPointIdx & 0xff; + int hType = vType >> 4; + int objId = (point.nPointIdx >> 16) & 0xff; + vType = vType & 0x0f; + + // 根据线特征类型确定颜色和大小 + QColor pointColor; + int pointSize = 1; + GetLineFeatureStyle(vType, hType, objId, pointColor, pointSize); + + // 计算图像坐标（使用居中偏移） + int px = (int)((point.pt3D.x - xMin) / x_scale + x_offset); + int py = (int)((point.pt3D.y - yMin) / y_scale + y_offset); + + if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) { + painter.setPen(QPen(pointColor, pointSize)); + painter.drawPoint(px, py); + } + } + } + + // 绘制角点作为圆点 + if (!cornerPoints.empty()) { + // 定义不同组角点的颜色 + QColor cornerColors[] = { + QColor(255, 0, 0), // 红色 + QColor(0, 255, 0), // 绿色 + QColor(0, 0, 255), // 蓝色 + QColor(255, 255, 0), // 黄色 + QColor(255, 0, 255), // 紫色 + QColor(0, 255, 255), // 青色 + QColor(255, 128, 0), // 橙色 + QColor(128, 255, 0) // 浅绿色 + }; + int numColors = sizeof(cornerColors) / sizeof(cornerColors[0]); + + for (size_t i = 0; i < cornerPoints.size(); i++) { + const auto& cornerGroup = cornerPoints[i]; + if (cornerGroup.empty()) continue; + + QColor cornerColor = cornerColors[i % numColors]; + + // 绘制每个角点 + for (size_t j = 0; j < cornerGroup.size(); j++) { + const SVzNL3DPoint& corner = cornerGroup[j]; + + // 跳过全0的点 + if (fabs(corner.x) < 0.0001 && fabs(corner.y) < 0.0001 && fabs(corner.z) < 0.0001) { + continue; + } + + // 计算图像坐标（使用居中偏移） + int px = (int)((corner.x - xMin) / x_scale + x_offset); + int py = (int)((corner.y - yMin) / y_scale + y_offset); + + if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) { + // 绘制圆点标记 + int circleSize = 10; // 圆点直径 + painter.setPen(QPen(cornerColor, 2)); + painter.setBrush(QBrush(cornerColor)); + painter.drawEllipse(px - circleSize/2, py - circleSize/2, circleSize, circleSize); + + // 绘制角点编号，确保不超出图像边界 + painter.setPen(QPen(Qt::white, 1)); + QFont font("Arial", 16, QFont::Bold); + painter.setFont(font); + + QString numberText = QString("%1").arg(j + 1); + painter.drawText(px + 8, py + 8, numberText); + } + } + } + } + + return image; +} + +QImage PointCloudImageUtils::GeneratePointCloudImageWithParticles( + const std::vector>& scanLines, + const std::vector& particles, + int cameraIndex) +{ + // 创建空图像 + int imageWidth = 800; + int imageHeight = 600; + QImage image(imageWidth, imageHeight, QImage::Format_RGB888); + image.fill(Qt::black); + + if (scanLines.empty()) { + return image; + } + + // 计算点云范围 + double xMin = std::numeric_limits::max(); + double xMax = std::numeric_limits::lowest(); + double yMin = std::numeric_limits::max(); + double yMax = std::numeric_limits::lowest(); + + for (const auto& line : scanLines) { + for (const auto& pt : line) { + if (pt.pt3D.z < 1e-4) continue; // 跳过无效点 + xMin = std::min(xMin, static_cast(pt.pt3D.x)); + xMax = std::max(xMax, static_cast(pt.pt3D.x)); + yMin = std::min(yMin, static_cast(pt.pt3D.y)); + yMax = std::max(yMax, static_cast(pt.pt3D.y)); + } + } + + // 检查范围是否有效 + if (xMax <= xMin || yMax <= yMin) { + return image; + } + + // 计算缩放比例 + double xScale = (xMax - xMin) / imageWidth; + double yScale = (yMax - yMin) / imageHeight; + double scale = std::max(xScale, yScale); + + QPainter painter(&image); + painter.setRenderHint(QPainter::Antialiasing, true); + + // 绘制点云数据（灰色） + painter.setPen(QColor(128, 128, 128)); + for (const auto& line : scanLines) { + for (const auto& pt : line) { + if (pt.pt3D.z < 1e-4) continue; // 跳过无效点 + + int px = static_cast((pt.pt3D.x - xMin) / scale); + int py = static_cast((pt.pt3D.y - yMin) / scale); + + if (px >= 0 && px < imageWidth && py >= 0 && py < imageHeight) { + painter.drawPoint(px, py); + } + } + } + + // 绘制颗粒（用不同颜色标记） + QColor colors[] = { + QColor(255, 0, 0), // 红色 + QColor(0, 255, 0), // 绿色 + QColor(0, 0, 255), // 蓝色 + QColor(255, 255, 0), // 黄色 + QColor(255, 0, 255), // 紫色 + QColor(0, 255, 255), // 青色 + QColor(255, 128, 0), // 橙色 + QColor(128, 255, 0) // 浅绿色 + }; + int numColors = sizeof(colors) / sizeof(colors[0]); + + for (size_t i = 0; i < particles.size(); i++) { + const auto& particle = particles[i]; + QColor color = colors[i % numColors]; + + // 绘制颗粒的8个顶点和边界框 + QVector points2D; + for (int j = 0; j < 8; j++) { + int px = static_cast((particle.vertix[j].x - xMin) / scale); + int py = static_cast((particle.vertix[j].y - yMin) / scale); + + if (px >= 0 && px < imageWidth && py >= 0 && py < imageHeight) { + points2D.append(QPoint(px, py)); + // 绘制顶点 + painter.setPen(QPen(color, 3)); + painter.setBrush(color); + painter.drawEllipse(QPoint(px, py), 3, 3); + } + } + + // 绘制边界框（连接相邻顶点） + if (points2D.size() >= 4) { + painter.setPen(QPen(color, 1)); + painter.setBrush(Qt::NoBrush); + + // 假设8个顶点按照立方体的顺序排列 + // 底面4个顶点：0,1,2,3 顶面4个顶点：4,5,6,7 + int edges[12][2] = { + {0,1}, {1,2}, {2,3}, {3,0}, // 底面 + {4,5}, {5,6}, {6,7}, {7,4}, // 顶面 + {0,4}, {1,5}, {2,6}, {3,7} // 竖边 + }; + + for (int j = 0; j < 12; j++) { + int idx1 = edges[j][0]; + int idx2 = edges[j][1]; + if (idx1 < points2D.size() && idx2 < points2D.size()) { + painter.drawLine(points2D[idx1], points2D[idx2]); + } + } + } + + // 计算颗粒中心位置并标注序号 + if (!points2D.empty()) { + QPoint center(0, 0); + for (const auto& pt : points2D) { + center.setX(center.x() + pt.x()); + center.setY(center.y() + pt.y()); + } + center.setX(center.x() / points2D.size()); + center.setY(center.y() / points2D.size()); + + // 绘制序号 + painter.setPen(color); + painter.setFont(QFont("Arial", 10, QFont::Bold)); + painter.drawText(center, QString::number(i + 1)); + } + } + + return image; +} + +QImage PointCloudImageUtils::GenerateWheelArchImage( + const std::vector>& scanLines, + const SVzNL3DPoint& wheelArchPos, + const SVzNL3DPoint& wheelUpPos, + const SVzNL3DPoint& wheelDownPos, + double archToCenterHeight, + bool hasResult) +{ + // 固定图像尺寸 + int imgRows = 992; + int imgCols = 1056; + int x_skip = 50; + int y_skip = 50; + + // 创建图像 + QImage image(imgCols, imgRows, QImage::Format_RGB888); + image.fill(Qt::black); + + if (scanLines.empty()) { + return image; + } + + // 计算点云范围 + double xMin, xMax, yMin, yMax; + CalculateScanLinesRange(scanLines, xMin, xMax, yMin, yMax); + + // 检查范围是否有效 + if (xMax <= xMin || yMax <= yMin) { + return image; + } + + QPainter painter(&image); + painter.setRenderHint(QPainter::Antialiasing, true); + + // 计算投影比例 + double y_rows = (double)(imgRows - y_skip * 2); + double x_cols = (double)(imgCols - x_skip * 2); + double x_scale = (xMax - xMin) / x_cols; + double y_scale = (yMax - yMin) / y_rows; + + // 使用统一的比例尺 + if (x_scale < y_scale) + x_scale = y_scale; + else + y_scale = x_scale; + + // 绘制点云数据（灰色） + for (const auto& scanLine : scanLines) { + for (const auto& point : scanLine) { + if (point.pt3D.z < 1e-4) continue; + + // 计算图像坐标 + int px = (int)((point.pt3D.x - xMin) / x_scale + x_skip); + int py = (int)((point.pt3D.y - yMin) / y_scale + y_skip); + + if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) { + painter.setPen(QPen(QColor(128, 128, 128), 1)); + painter.drawPoint(px, py); + } + } + } + + // 如果有检测结果，绘制轮眉检测结果 + if (hasResult) { + // 绘制轮眉位置（红色大圆点） + if (fabs(wheelArchPos.x) > 0.0001 || fabs(wheelArchPos.y) > 0.0001) { + int px = (int)((wheelArchPos.x - xMin) / x_scale + x_skip); + int py = (int)((wheelArchPos.y - yMin) / y_scale + y_skip); + + if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) { + painter.setPen(QPen(QColor(255, 0, 0), 2)); + painter.setBrush(QBrush(QColor(255, 0, 0))); + painter.drawEllipse(px - 8, py - 8, 16, 16); + + // 标注"轮眉" + painter.setPen(QPen(Qt::white, 1)); + painter.setFont(QFont("Arial", 24, QFont::Bold)); + painter.drawText(px + 12, py + 5, QString::fromUtf8("轮眉")); + } + } + + // 绘制上点位置（绿色圆点） + if (fabs(wheelUpPos.x) > 0.0001 || fabs(wheelUpPos.y) > 0.0001) { + int px = (int)((wheelUpPos.x - xMin) / x_scale + x_skip); + int py = (int)((wheelUpPos.y - yMin) / y_scale + y_skip); + + if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) { + painter.setPen(QPen(QColor(0, 255, 0), 2)); + painter.setBrush(QBrush(QColor(0, 255, 0))); + painter.drawEllipse(px - 6, py - 6, 12, 12); + + // 标注"上点" + painter.setPen(QPen(Qt::white, 1)); + painter.setFont(QFont("Arial", 24, QFont::Bold)); + painter.drawText(px + 10, py + 5, QString::fromUtf8("上点")); + } + } + + // 绘制下点位置（蓝色圆点） + if (fabs(wheelDownPos.x) > 0.0001 || fabs(wheelDownPos.y) > 0.0001) { + int px = (int)((wheelDownPos.x - xMin) / x_scale + x_skip); + int py = (int)((wheelDownPos.y - yMin) / y_scale + y_skip); + + if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) { + painter.setPen(QPen(QColor(0, 0, 255), 2)); + painter.setBrush(QBrush(QColor(0, 0, 255))); + painter.drawEllipse(px - 6, py - 6, 12, 12); + + // 标注"下点" + painter.setPen(QPen(Qt::white, 1)); + painter.setFont(QFont("Arial", 24, QFont::Bold)); + painter.drawText(px + 10, py + 5, QString::fromUtf8("下点")); + } + } + + // 绘制连线（从上点到轮眉到下点） + if ((fabs(wheelUpPos.x) > 0.0001 || fabs(wheelUpPos.y) > 0.0001) && + (fabs(wheelArchPos.x) > 0.0001 || fabs(wheelArchPos.y) > 0.0001)) { + int px1 = (int)((wheelUpPos.x - xMin) / x_scale + x_skip); + int py1 = (int)((wheelUpPos.y - yMin) / y_scale + y_skip); + int px2 = (int)((wheelArchPos.x - xMin) / x_scale + x_skip); + int py2 = (int)((wheelArchPos.y - yMin) / y_scale + y_skip); + + painter.setPen(QPen(QColor(255, 255, 0), 2, Qt::DashLine)); + painter.drawLine(px1, py1, px2, py2); + } + + if ((fabs(wheelArchPos.x) > 0.0001 || fabs(wheelArchPos.y) > 0.0001) && + (fabs(wheelDownPos.x) > 0.0001 || fabs(wheelDownPos.y) > 0.0001)) { + int px1 = (int)((wheelArchPos.x - xMin) / x_scale + x_skip); + int py1 = (int)((wheelArchPos.y - yMin) / y_scale + y_skip); + int px2 = (int)((wheelDownPos.x - xMin) / x_scale + x_skip); + int py2 = (int)((wheelDownPos.y - yMin) / y_scale + y_skip); + + painter.setPen(QPen(QColor(255, 255, 0), 2, Qt::DashLine)); + painter.drawLine(px1, py1, px2, py2); + } + + // 在图像右上角显示拱高信息 + // painter.setPen(QPen(Qt::white, 1)); + // painter.setFont(QFont("Arial", 14, QFont::Bold)); + // QString heightText = QString::fromUtf8("拱高: %1 mm").arg(archToCenterHeight, 0, 'f', 2); + // painter.drawText(imgCols - 200, 40, heightText); + } + + return image; +} + +QImage PointCloudImageUtils::GenerateChannelSpaceImage( + const std::vector>& scanLines, + int imageWidth, int imageHeight) +{ + // 创建图像 + QImage image(imageWidth, imageHeight, QImage::Format_RGB888); + image.fill(Qt::black); + + if (scanLines.empty()) { + return image; + } + + int x_skip = 30; + int y_skip = 30; + + // 计算点云范围 + double xMin, xMax, yMin, yMax; + CalculateScanLinesRange(scanLines, xMin, xMax, yMin, yMax); + + // 检查范围是否有效 + if (xMax <= xMin || yMax <= yMin) { + return image; + } + + // 计算投影比例 + double y_rows = (double)(imageHeight - y_skip * 2); + double x_cols = (double)(imageWidth - x_skip * 2); + double x_scale = (xMax - xMin) / x_cols; + double y_scale = (yMax - yMin) / y_rows; + + // 使用统一的比例尺 + double scale = std::max(x_scale, y_scale); + + // 计算点云总数和密度，动态调整点的绘制大小 + int totalPoints = 0; + for (const auto& scanLine : scanLines) { + for (const auto& point : scanLine) { + if (point.pt3D.z > 1e-4) totalPoints++; + } + } + + // 根据点云密度计算基础点大小（点少则画大，点多则画小） + int basePointSize = 2; + if (totalPoints < 10000) { + basePointSize = 4; + } else if (totalPoints < 50000) { + basePointSize = 3; + } else { + basePointSize = 2; + } + + QPainter painter(&image); + painter.setRenderHint(QPainter::Antialiasing, false); + + // 预定义8种颜色（参考 HC_chanelSpaceMeasure_test.cpp 的 objColor） + QColor objColors[8] = { + QColor(245, 222, 179), // 淡黄色 + QColor(210, 105, 30), // 巧克力色 + QColor(240, 230, 140), // 黄褐色 + QColor(135, 206, 235), // 天蓝色 + QColor(250, 235, 215), // 古董白 + QColor(189, 252, 201), // 薄荷色 + QColor(221, 160, 221), // 梅红色 + QColor(188, 143, 143) // 玫瑰红色 + }; + + // 绘制点云数据 - 根据算法标记的nPointIdx着色 + for (const auto& scanLine : scanLines) { + for (const auto& point : scanLine) { + if (point.pt3D.z < 1e-4) continue; + + // 根据nPointIdx确定颜色和大小 + // 参考 _outputRGBDScan_RGBD: nPointIdx > 0 使用objColor, 否则灰色 + QColor pointColor; + int pointSize = basePointSize; + + if (point.nPointIdx > 0 && point.nPointIdx <= 8) { + pointColor = objColors[point.nPointIdx - 1]; + pointSize = basePointSize + 2; // 特征点更大 + } else if (point.nPointIdx > 8) { + // nPointIdx > 8 使用取模方式循环颜色 + pointColor = objColors[(point.nPointIdx - 1) % 8]; + pointSize = basePointSize + 2; + } else { + // nPointIdx == 0 或负数，使用灰色 + pointColor = QColor(180, 180, 180); + pointSize = basePointSize; + } + + // 计算图像坐标 + int px = (int)((point.pt3D.x - xMin) / scale + x_skip); + int py = (int)((point.pt3D.y - yMin) / scale + y_skip); + + if (px >= 0 && px < imageWidth && py >= 0 && py < imageHeight) { + // 使用填充矩形绘制点，避免稀疏 + painter.fillRect(px - pointSize/2, py - pointSize/2, + pointSize, pointSize, pointColor); + } + } + } + + return image; +} + +int PointCloudImageUtils::GenerateDepthImage( + const std::vector>& detectionDataCache, + QImage& outImage) +{ + if (detectionDataCache.empty()) { + return -1; + } + + // 固定图像尺寸 + int imgRows = 992; + int imgCols = 1056; + int x_skip = 50; + int y_skip = 50; + + // 计算点云范围 + double xMin = std::numeric_limits::max(); + double xMax = std::numeric_limits::lowest(); + double yMin = std::numeric_limits::max(); + double yMax = std::numeric_limits::lowest(); + double zMin = std::numeric_limits::max(); + double zMax = std::numeric_limits::lowest(); + + for (const auto& dataPair : detectionDataCache) { + EVzResultDataType dataType = dataPair.first; + const SVzLaserLineData& lineData = dataPair.second; + + if (!lineData.p3DPoint || lineData.nPointCount <= 0) continue; + + // 根据数据类型处理点云数据 + if (dataType == keResultDataType_Position) { + SVzNL3DPosition* positions = static_cast(lineData.p3DPoint); + for (int i = 0; i < lineData.nPointCount; i++) { + const SVzNL3DPosition& point = positions[i]; + if (point.pt3D.z < 1e-4) continue; + + if (point.pt3D.x < xMin) xMin = point.pt3D.x; + if (point.pt3D.x > xMax) xMax = point.pt3D.x; + if (point.pt3D.y < yMin) yMin = point.pt3D.y; + if (point.pt3D.y > yMax) yMax = point.pt3D.y; + if (point.pt3D.z < zMin) zMin = point.pt3D.z; + if (point.pt3D.z > zMax) zMax = point.pt3D.z; + } + } else if (dataType == keResultDataType_PointXYZRGBA) { + SVzNLPointXYZRGBA* points = static_cast(lineData.p3DPoint); + for (int i = 0; i < lineData.nPointCount; i++) { + const SVzNLPointXYZRGBA& point = points[i]; + if (point.z < 1e-4) continue; + + if (point.x < xMin) xMin = point.x; + if (point.x > xMax) xMax = point.x; + if (point.y < yMin) yMin = point.y; + if (point.y > yMax) yMax = point.y; + if (point.z < zMin) zMin = point.z; + if (point.z > zMax) zMax = point.z; + } + } + } + + // 检查范围是否有效 + if (xMax <= xMin || yMax <= yMin) { + return -2; + } + + // 创建图像 + outImage = QImage(imgCols, imgRows, QImage::Format_RGB888); + outImage.fill(Qt::black); + + QPainter painter(&outImage); + + // 计算投影比例 + double y_rows = (double)(imgRows - y_skip * 2); + double x_cols = (double)(imgCols - x_skip * 2); + double x_scale = (xMax - xMin) / x_cols; + double y_scale = (yMax - yMin) / y_rows; + + // 使用统一的比例尺 + if (x_scale < y_scale) + x_scale = y_scale; + else + y_scale = x_scale; + + double zRange = zMax - zMin; + if (zRange < 1e-4) zRange = 1.0; // 防止除0 + + // 绘制点云数据 - 使用Z值映射颜色（深度图） + for (const auto& dataPair : detectionDataCache) { + EVzResultDataType dataType = dataPair.first; + const SVzLaserLineData& lineData = dataPair.second; + + if (!lineData.p3DPoint || lineData.nPointCount <= 0) continue; + + if (dataType == keResultDataType_Position) { + SVzNL3DPosition* positions = static_cast(lineData.p3DPoint); + for (int i = 0; i < lineData.nPointCount; i++) { + const SVzNL3DPosition& point = positions[i]; + if (point.pt3D.z < 1e-4) continue; + + // 计算图像坐标 + int px = (int)((point.pt3D.x - xMin) / x_scale + x_skip); + int py = (int)((point.pt3D.y - yMin) / y_scale + y_skip); + + if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) { + // 根据Z值计算颜色（深度图效果） + double normalizedZ = (point.pt3D.z - zMin) / zRange; + normalizedZ = std::max(0.0, std::min(1.0, normalizedZ)); + + // 使用热力图颜色映射：蓝->青->绿->黄->红 + QColor color; + if (normalizedZ < 0.25) { + int r = 0; + int g = (int)(normalizedZ * 4 * 255); + int b = 255; + color = QColor(r, g, b); + } else if (normalizedZ < 0.5) { + int r = 0; + int g = 255; + int b = (int)((0.5 - normalizedZ) * 4 * 255); + color = QColor(r, g, b); + } else if (normalizedZ < 0.75) { + int r = (int)((normalizedZ - 0.5) * 4 * 255); + int g = 255; + int b = 0; + color = QColor(r, g, b); + } else { + int r = 255; + int g = (int)((1.0 - normalizedZ) * 4 * 255); + int b = 0; + color = QColor(r, g, b); + } + + painter.setPen(QPen(color, 1)); + painter.drawPoint(px, py); + } + } + } else if (dataType == keResultDataType_PointXYZRGBA) { + SVzNLPointXYZRGBA* points = static_cast(lineData.p3DPoint); + for (int i = 0; i < lineData.nPointCount; i++) { + const SVzNLPointXYZRGBA& point = points[i]; + if (point.z < 1e-4) continue; + + // 计算图像坐标 + int px = (int)((point.x - xMin) / x_scale + x_skip); + int py = (int)((point.y - yMin) / y_scale + y_skip); + + if (px >= 0 && px < imgCols && py >= 0 && py < imgRows) { + // 根据Z值计算颜色（深度图效果） + double normalizedZ = (point.z - zMin) / zRange; + normalizedZ = std::max(0.0, std::min(1.0, normalizedZ)); + + // 使用热力图颜色映射：蓝->青->绿->黄->红 + QColor color; + if (normalizedZ < 0.25) { + int r = 0; + int g = (int)(normalizedZ * 4 * 255); + int b = 255; + color = QColor(r, g, b); + } else if (normalizedZ < 0.5) { + int r = 0; + int g = 255; + int b = (int)((0.5 - normalizedZ) * 4 * 255); + color = QColor(r, g, b); + } else if (normalizedZ < 0.75) { + int r = (int)((normalizedZ - 0.5) * 4 * 255); + int g = 255; + int b = 0; + color = QColor(r, g, b); + } else { + int r = 255; + int g = (int)((1.0 - normalizedZ) * 4 * 255); + int b = 0; + color = QColor(r, g, b); + } + + painter.setPen(QPen(color, 1)); + painter.drawPoint(px, py); + } + } + } + } + + return 0; +} diff --git a/CloudView/CloudView.pro b/CloudView/CloudView.pro new file mode 100644 index 0000000..b2774d4 --- /dev/null +++ b/CloudView/CloudView.pro @@ -0,0 +1,67 @@ +# Qt 5 兼容：QOpenGLWidget 在 widgets 模块中 +QT += core gui widgets opengl + +CONFIG += c++17 +CONFIG -= app_bundle + +# Windows平台UTF-8编码支持 +win32-msvc { + QMAKE_CXXFLAGS += /utf-8 + QMAKE_CXXFLAGS += /bigobj +} + +TARGET = CloudView +TEMPLATE = app + +# 项目目录 +INCLUDEPATH += $$PWD/Inc +INCLUDEPATH += $$PWD/../CloudUtils/Inc +INCLUDEPATH += $$PWD/../../SDK/Device/VzNLSDK/Inc +INCLUDEPATH += $$PWD/../VrUtils/Inc +INCLUDEPATH += $$PWD/../VrCommon/Inc + +# 头文件 +HEADERS += \ + Inc/CloudViewMainWindow.h \ + Inc/PointCloudGLWidget.h \ + Inc/PointCloudConverter.h + +# 源文件 +SOURCES += \ + main.cpp \ + Src/CloudViewMainWindow.cpp \ + Src/PointCloudGLWidget.cpp \ + Src/PointCloudConverter.cpp + +# 资源文件 +RESOURCES += resource/resource.qrc + +# Windows 应用图标 +RC_ICONS = resource/logo.ico + +# Windows平台库链接 +win32:CONFIG(release, debug|release): { + LIBS += -L../CloudUtils/release -lCloudUtils + LIBS += -L../VrUtils/release -lVrUtils + LIBS += -L../VrCommon/release -lVrCommon +} +else:win32:CONFIG(debug, debug|release): { + LIBS += -L../CloudUtils/debug -lCloudUtils + LIBS += -L../VrUtils/debug -lVrUtils + LIBS += -L../VrCommon/debug -lVrCommon +} + +# Windows系统库 +win32 { + LIBS += -lAdvapi32 + LIBS += -lopengl32 + LIBS += -lglu32 +} + + +DEFINES += _USE_MATH_DEFINES + +# Default rules for deployment +qnx: target.path = /tmp/$${TARGET}/bin +else: unix:!android: target.path = /opt/$${TARGET}/bin +!isEmpty(target.path): INSTALLS += target diff --git a/CloudView/Inc/CloudViewMainWindow.h b/CloudView/Inc/CloudViewMainWindow.h new file mode 100644 index 0000000..dddb2c2 --- /dev/null +++ b/CloudView/Inc/CloudViewMainWindow.h @@ -0,0 +1,312 @@ +#ifndef CLOUD_VIEW_MAIN_WINDOW_H +#define CLOUD_VIEW_MAIN_WINDOW_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include "PointCloudGLWidget.h" +#include "PointCloudConverter.h" + +class QTextEdit; +class QTableWidget; + +/** + * @brief 点云查看器主窗口 + * 左侧显示点云，右侧为操作区域 + */ +class CloudViewMainWindow : public QMainWindow +{ + Q_OBJECT + +public: + explicit CloudViewMainWindow(QWidget* parent = nullptr); + ~CloudViewMainWindow() override; + +private slots: + /** + * @brief 打开文件 + */ + void onOpenFile(); + + /** + * @brief 打开线段文件 + */ + void onOpenSegmentFile(); + + /** + * @brief 打开姿态点文件 + */ + void onOpenPoseFile(); + + /** + * @brief 清除所有点云 + */ + void onClearAll(); + + /** + * @brief 重置视图 + */ + void onResetView(); + + /** + * @brief 清除选中的点 + */ + void onClearSelectedPoints(); + + /** + * @brief 清除选线 + */ + void onClearLinePoints(); + + /** + * @brief 处理点选中事件 + */ + void onPointSelected(const SelectedPointInfo& point); + + /** + * @brief 处理两点选中事件（测距） + */ + void onTwoPointsSelected(const SelectedPointInfo& p1, const SelectedPointInfo& p2, float distance); + + /** + * @brief 处理线选中事件 + */ + void onLineSelected(const SelectedLineInfo& line); + + /** + * @brief 处理视角旋转角度改变事件 + */ + void onViewAnglesChanged(float rotX, float rotY, float rotZ); + + /** + * @brief 通过输入线号选择线 + */ + void onSelectLineByNumber(); + + /** + * @brief 选线模式切换（纵向/横向） + */ + void onLineSelectModeChanged(bool checked); + + /** + * @brief 显示选中线上的所有点坐标 + */ + void onShowLinePoints(); + + /** + * @brief 线上点列表项被点击 + */ + void onLinePointTableClicked(int row, int column); + + /** + * @brief 显示点1的姿态 + */ + void onShowPose1(); + + /** + * @brief 显示点2的姿态 + */ + void onShowPose2(); + + /** + * @brief 显示输入的线段 + */ + void onShowInputLine(); + + /** + * @brief 清除输入的线段 + */ + void onClearInputLine(); + + /** + * @brief 欧拉角旋转顺序改变 + */ + void onEulerOrderChanged(int index); + + /** + * @brief 从文件加载变换矩阵 + */ + void onLoadMatrix(); + + /** + * @brief 应用矩阵变换到所有点云 + */ + void onApplyMatrix(); + + /** + * @brief 重置矩阵为单位矩阵 + */ + void onResetMatrix(); + +private: + /** + * @brief 初始化界面 + */ + void setupUI(); + + /** + * @brief 创建左侧点云显示区域 + */ + QWidget* createViewerArea(); + + /** + * @brief 创建右侧操作区域 + */ + QWidget* createControlPanel(); + + /** + * @brief 创建文件操作组 + */ + QGroupBox* createFileGroup(); + + /** + * @brief 创建视图方向组 + */ + QGroupBox* createViewGroup(); + + /** + * @brief 创建选点测距组 + */ + QGroupBox* createMeasureGroup(); + + /** + * @brief 创建选点测距页面 + */ + QWidget* createMeasurePage(); + + /** + * @brief 创建选线页面 + */ + QWidget* createLinePage(); + + /** + * @brief 创建矩阵变换页面 + */ + QWidget* createTransformPage(); + + /** + * @brief 创建选线拟合组 + */ + QGroupBox* createLineGroup(); + + /** + * @brief 创建点云列表组 + */ + QGroupBox* createCloudListGroup(); + + /** + * @brief 更新选点信息显示 + */ + void updateSelectedPointsDisplay(); + + /** + * @brief 从原始数据获取线上点（包含0,0,0） + */ + QVector getOriginalLinePoints(const SelectedLineInfo& lineInfo); + + /** + * @brief 更新线上点对话框内容 + */ + void updateLinePointsDialog(); + + // 点云显示控件 + PointCloudGLWidget* m_glWidget; + + // 点云转换器 + std::unique_ptr m_converter; + + // 文件操作控件 + QPushButton* m_btnOpenFile; + QPushButton* m_btnOpenSegment; + QPushButton* m_btnOpenPose; + QPushButton* m_btnClearAll; + + // 视图角度输入控件 + QLineEdit* m_editRotX; + QLineEdit* m_editRotY; + QLineEdit* m_editRotZ; + + // 选点测距控件 + QCheckBox* m_cbMeasureDistance; + QPushButton* m_btnClearPoints; + QLabel* m_lblPoint1; + QLabel* m_lblPoint2; + QLabel* m_lblDistance; + + // 点1姿态输入控件 + QLineEdit* m_editRx1; + QLineEdit* m_editRy1; + QLineEdit* m_editRz1; + QPushButton* m_btnShowPose1; + + // 点2姿态输入控件 + QLineEdit* m_editRx2; + QLineEdit* m_editRy2; + QLineEdit* m_editRz2; + QPushButton* m_btnShowPose2; + + // 欧拉角旋转顺序选择 + QComboBox* m_comboEulerOrder; + + // 选线拟合控件 + QPushButton* m_btnClearLine; + QPushButton* m_btnShowLinePoints; + QLineEdit* m_lineNumberInput; + QPushButton* m_btnSelectByNumber; + QRadioButton* m_rbVertical; + QRadioButton* m_rbHorizontal; + QLabel* m_lblLineIndex; + QLabel* m_lblLinePointCount; + + // 输入线段控件 + QLineEdit* m_editLineX1; + QLineEdit* m_editLineY1; + QLineEdit* m_editLineZ1; + QLineEdit* m_editLineX2; + QLineEdit* m_editLineY2; + QLineEdit* m_editLineZ2; + QPushButton* m_btnShowLine; + QPushButton* m_btnClearLine2; + + // 点云列表 + QListWidget* m_cloudList; + + // 已加载的点云数量 + int m_cloudCount; + + // 当前点云的线信息（用于旋转） + int m_currentLineNum; + int m_currentLinePtNum; + + // 原始完整点云数据（包含0,0,0点，用于旋转） + PointCloudXYZ m_originalCloud; + + // 线上点对话框 + QDialog* m_linePointsDialog; + QTableWidget* m_linePointsTable; + QVector m_currentLinePoints; // 当前线的原始点坐标 + + // 矩阵变换控件 + QTextEdit* m_matrixEdit; + QPushButton* m_btnLoadMatrix; + QPushButton* m_btnApplyMatrix; + QPushButton* m_btnResetMatrix; +}; + +#endif // CLOUD_VIEW_MAIN_WINDOW_H diff --git a/CloudView/Inc/PointCloudConverter.h b/CloudView/Inc/PointCloudConverter.h new file mode 100644 index 0000000..2c5a9ec --- /dev/null +++ b/CloudView/Inc/PointCloudConverter.h @@ -0,0 +1,149 @@ +#ifndef POINT_CLOUD_CONVERTER_H +#define POINT_CLOUD_CONVERTER_H + +#include +#include +#include + +/** + * @brief 简单的 3D 点结构 + */ +struct Point3D +{ + float x, y, z; + Point3D() : x(0), y(0), z(0) {} + Point3D(float _x, float _y, float _z) : x(_x), y(_y), z(_z) {} +}; + +/** + * @brief 带颜色的 3D 点结构 + */ +struct Point3DRGB +{ + float x, y, z; + uint8_t r, g, b; + Point3DRGB() : x(0), y(0), z(0), r(255), g(255), b(255) {} + Point3DRGB(float _x, float _y, float _z, uint8_t _r = 255, uint8_t _g = 255, uint8_t _b = 255) + : x(_x), y(_y), z(_z), r(_r), g(_g), b(_b) {} +}; + +/** + * @brief 简单的点云容器 + */ +template +class SimplePointCloud +{ +public: + std::vector points; + std::vector lineIndices; // 每个点所属的线索引 + + void clear() { points.clear(); lineIndices.clear(); } + size_t size() const { return points.size(); } + bool empty() const { return points.empty(); } + void reserve(size_t n) { points.reserve(n); lineIndices.reserve(n); } + void push_back(const PointT& pt) { points.push_back(pt); } + void push_back(const PointT& pt, int lineIdx) { + points.push_back(pt); + lineIndices.push_back(lineIdx); + } +}; + +using PointCloudXYZ = SimplePointCloud; +using PointCloudXYZRGB = SimplePointCloud; + +/** + * @brief 点云数据转换器 + * 负责加载 txt 和 pcd 格式的点云文件 + */ +class PointCloudConverter +{ +public: + PointCloudConverter(); + ~PointCloudConverter(); + + /** + * @brief 从 txt 文件加载点云（使用 CloudUtils） + */ + int loadFromTxt(const std::string& fileName, PointCloudXYZ& cloud); + int loadFromTxt(const std::string& fileName, PointCloudXYZRGB& cloud); + + /** + * @brief 从 pcd 文件加载点云（简单 ASCII/Binary 解析） + */ + int loadFromPcd(const std::string& fileName, PointCloudXYZ& cloud); + int loadFromPcd(const std::string& fileName, PointCloudXYZRGB& cloud); + + /** + * @brief 根据文件扩展名自动选择加载方式 + */ + int loadFromFile(const std::string& fileName, PointCloudXYZ& cloud); + int loadFromFile(const std::string& fileName, PointCloudXYZRGB& cloud); + + /** + * @brief 保存点云到 txt 文件（使用 CloudUtils） + */ + int saveToTxt(const std::string& fileName, const PointCloudXYZ& cloud, int lineNum, int linePtNum); + + /** + * @brief 旋转点云（行列转置 + 交换XY） + * @param cloud 输入点云 + * @param rotatedCloud 输出旋转后的点云 + * @param lineNum 原始线数 + * @param linePtNum 原始每线点数 + * @param newLineNum 输出新的线数 + * @param newLinePtNum 输出新的每线点数 + */ + int rotateCloud(const PointCloudXYZ& cloud, PointCloudXYZ& rotatedCloud, + int lineNum, int linePtNum, int& newLineNum, int& newLinePtNum); + + /** + * @brief 获取最后的错误信息 + */ + std::string getLastError() const { return m_lastError; } + + /** + * @brief 获取加载的点云数量 + */ + size_t getLoadedPointCount() const { return m_loadedPointCount; } + + /** + * @brief 获取加载的线数量 + */ + int getLoadedLineCount() const { return m_loadedLineCount; } + + /** + * @brief 上次 loadFromTxt(PointCloudXYZRGB&) 加载的文件是否包含颜色数据 + */ + bool lastLoadHadColor() const { return m_lastLoadHadColor; } + +private: + /** + * @brief 获取文件扩展名（小写） + */ + std::string getFileExtension(const std::string& fileName); + + /** + * @brief 解析 PCD 文件头 + */ + struct PcdHeader + { + int width = 0; + int height = 1; + int points = 0; + bool isBinary = false; + bool hasRgb = false; + std::vector fields; + std::vector fieldSizes; + std::vector fieldTypes; + int pointSize = 0; + }; + + bool parsePcdHeader(std::ifstream& file, PcdHeader& header); + + std::string m_lastError; + size_t m_loadedPointCount; + int m_loadedLineCount; + bool m_lastLoadHadColor; +}; + +#endif // POINT_CLOUD_CONVERTER_H diff --git a/CloudView/Inc/PointCloudGLWidget.h b/CloudView/Inc/PointCloudGLWidget.h new file mode 100644 index 0000000..0140004 --- /dev/null +++ b/CloudView/Inc/PointCloudGLWidget.h @@ -0,0 +1,393 @@ +#ifndef POINT_CLOUD_GL_WIDGET_H +#define POINT_CLOUD_GL_WIDGET_H + +#include +#include +#include +#include +#include +#include +#include +#include + +#include "PointCloudConverter.h" + +/** + * @brief 点云显示颜色枚举 + */ +enum class PointCloudColor +{ + White, + Red, + Green, + Blue, + Yellow, + Cyan, + Magenta, + Original +}; + +/** + * @brief 选中的点信息 + */ +struct SelectedPointInfo +{ + bool valid; + size_t index; + float x, y, z; + int cloudIndex; + int lineIndex; // 所属线索引 + int pointIndexInLine; // 点在线中的索引 + + SelectedPointInfo() : valid(false), index(0), x(0), y(0), z(0), cloudIndex(-1), lineIndex(-1), pointIndexInLine(-1) {} +}; + +/** + * @brief 选线模式 + */ +enum class LineSelectMode +{ + Vertical, // 纵向选线（同一条扫描线） + Horizontal // 横向选线（所有线的相同索引点） +}; + +/** + * @brief 欧拉角旋转顺序 + */ +enum class EulerRotationOrder +{ + ZYX, // Yaw-Pitch-Roll（最常用） + XYZ, // Roll-Pitch-Yaw + ZXY, // Yaw-Roll-Pitch + YXZ, // Pitch-Roll-Yaw + XZY, // Roll-Yaw-Pitch + YZX // Pitch-Yaw-Roll +}; + +/** + * @brief 选中的线信息 + */ +struct SelectedLineInfo +{ + bool valid; + int cloudIndex; // 点云索引 + int lineIndex; // 线索引（纵向选线时使用） + int pointIndex; // 点索引（横向选线时使用） + int pointCount; // 该线上的点数 + LineSelectMode mode; // 选线模式 + + SelectedLineInfo() : valid(false), cloudIndex(-1), lineIndex(-1), pointIndex(-1), pointCount(0), mode(LineSelectMode::Vertical) {} +}; + +/** + * @brief 线段数据 + */ +struct LineSegment +{ + float x1, y1, z1; // 起点 + float x2, y2, z2; // 终点 + float r, g, b; // 颜色 (0-1) + + LineSegment() : x1(0), y1(0), z1(0), x2(0), y2(0), z2(0), r(1), g(1), b(1) {} + LineSegment(float _x1, float _y1, float _z1, float _x2, float _y2, float _z2, float _r = 1.0f, float _g = 1.0f, float _b = 1.0f) + : x1(_x1), y1(_y1), z1(_z1), x2(_x2), y2(_y2), z2(_z2), r(_r), g(_g), b(_b) {} +}; + +/** + * @brief 姿态点数据 + * + * 坐标系约定（右手坐标系）： + * - X轴：红色，指向右 + * - Y轴：绿色，指向上 + * - Z轴：蓝色，指向观察者 + * + * 欧拉角旋转顺序：ZYX（Yaw-Pitch-Roll） + * - rz: 绕Z轴旋转（偏航角，Yaw） + * - ry: 绕Y轴旋转（俯仰角，Pitch） + * - rx: 绕X轴旋转（滚转角，Roll） + */ +struct PosePoint +{ + float x, y, z; // 位置 + float rx, ry, rz; // 欧拉角（度） + float scale; // 坐标系大小 + + PosePoint() : x(0), y(0), z(0), rx(0), ry(0), rz(0), scale(10.0f) {} + PosePoint(float _x, float _y, float _z, float _rx, float _ry, float _rz, float _scale = 10.0f) + : x(_x), y(_y), z(_z), rx(_rx), ry(_ry), rz(_rz), scale(_scale) {} +}; + +/** + * @brief 点云 OpenGL 渲染控件 + */ +class PointCloudGLWidget : public QOpenGLWidget, protected QOpenGLFunctions +{ + Q_OBJECT + +public: + explicit PointCloudGLWidget(QWidget* parent = nullptr); + ~PointCloudGLWidget() override; + + void addPointCloud(const PointCloudXYZ& cloud, const QString& name = ""); + void addPointCloud(const PointCloudXYZRGB& cloud, const QString& name = ""); + void clearPointClouds(); + void setPointCloudColor(PointCloudColor color); + void setPointSize(float size); + void resetView(); + + /** + * @brief 设置视角旋转角度（不改变缩放和平移） + * @param rotX X轴旋转角度（俯仰） + * @param rotY Y轴旋转角度（偏航） + * @param rotZ Z轴旋转角度（滚转） + */ + void setViewAngles(float rotX, float rotY, float rotZ = 0.0f); + + QVector getSelectedPoints() const { return m_selectedPoints; } + SelectedLineInfo getSelectedLine() const { return m_selectedLine; } + void clearSelectedPoints(); + void clearSelectedLine(); + float calculateDistance(const SelectedPointInfo& p1, const SelectedPointInfo& p2); + + /** + * @brief 通过线索引选择线（纵向） + */ + bool selectLineByIndex(int lineIndex); + + /** + * @brief 通过点索引选择横向线（所有线的相同索引点） + */ + bool selectHorizontalLineByIndex(int pointIndex); + + /** + * @brief 设置选线模式 + */ + void setLineSelectMode(LineSelectMode mode) { m_lineSelectMode = mode; } + + /** + * @brief 设置欧拉角旋转顺序 + */ + void setEulerRotationOrder(EulerRotationOrder order) { m_eulerRotationOrder = order; } + + /** + * @brief 获取欧拉角旋转顺序 + */ + EulerRotationOrder getEulerRotationOrder() const { return m_eulerRotationOrder; } + + /** + * @brief 设置是否启用测距功能 + */ + void setMeasureDistanceEnabled(bool enabled) { m_measureDistanceEnabled = enabled; } + + /** + * @brief 获取测距功能是否启用 + */ + bool isMeasureDistanceEnabled() const { return m_measureDistanceEnabled; } + + /** + * @brief 获取选中线上的所有点坐标 + * @return 点坐标列表，每个元素为 (x, y, z) + */ + QVector getSelectedLinePoints() const; + + /** + * @brief 设置列表高亮点（与选点功能区分） + * @param point 点坐标，如果为空则清除高亮 + */ + void setListHighlightPoint(const QVector3D& point); + + /** + * @brief 清除列表高亮点 + */ + void clearListHighlightPoint(); + + /** + * @brief 获取第一个点云的数据（用于旋转和保存） + */ + bool getFirstCloudData(PointCloudXYZ& cloud) const; + + /** + * @brief 替换第一个点云（用于显示旋转后的数据） + */ + void replaceFirstCloud(const PointCloudXYZ& cloud, const QString& name); + + /** + * @brief 获取点云数量 + */ + size_t getCloudCount() const { return m_pointClouds.size(); } + + /** + * @brief 对所有点云应用 4x4 变换矩阵 + * @param matrix 4x4 变换矩阵 + */ + void transformAllClouds(const QMatrix4x4& matrix); + + /** + * @brief 添加线段 + */ + void addLineSegments(const QVector& segments); + + /** + * @brief 清除所有线段 + */ + void clearLineSegments(); + + /** + * @brief 添加姿态点 + */ + void addPosePoints(const QVector& poses); + + /** + * @brief 清除所有姿态点 + */ + void clearPosePoints(); + +signals: + void pointSelected(const SelectedPointInfo& point); + void twoPointsSelected(const SelectedPointInfo& p1, const SelectedPointInfo& p2, float distance); + void lineSelected(const SelectedLineInfo& line); + void viewAnglesChanged(float rotX, float rotY, float rotZ); + +protected: + void initializeGL() override; + void resizeGL(int w, int h) override; + void paintGL() override; + void mousePressEvent(QMouseEvent* event) override; + void mouseMoveEvent(QMouseEvent* event) override; + void mouseReleaseEvent(QMouseEvent* event) override; + void wheelEvent(QWheelEvent* event) override; + void keyPressEvent(QKeyEvent* event) override; + +private: + struct PointCloudData + { + std::vector vertices; + std::vector colors; + std::vector lineIndices; // 每个点所属的线索引 + std::vector originalIndices; // 每个显示点在原始点云中的索引（用于计算原始index） + bool hasColor; + bool hasLineInfo; // 是否有线信息 + QString name; + int colorIndex; // 点云颜色索引 + int totalLines; // 总线数 + int pointsPerLine; // 每线点数（网格化点云） + + // VBO 缓冲区 + QOpenGLBuffer vertexBuffer; // 顶点 VBO + QOpenGLBuffer colorBuffer; // 颜色 VBO + bool vboCreated; // VBO 是否已创建 + + PointCloudData() + : hasColor(false), hasLineInfo(false), colorIndex(0) + , totalLines(0), pointsPerLine(0) + , vertexBuffer(QOpenGLBuffer::VertexBuffer) + , colorBuffer(QOpenGLBuffer::VertexBuffer) + , vboCreated(false) + {} + + // 移动构造函数（QOpenGLBuffer 不支持拷贝） + PointCloudData(PointCloudData&& other) noexcept + : vertices(std::move(other.vertices)) + , colors(std::move(other.colors)) + , lineIndices(std::move(other.lineIndices)) + , originalIndices(std::move(other.originalIndices)) + , hasColor(other.hasColor) + , hasLineInfo(other.hasLineInfo) + , name(std::move(other.name)) + , colorIndex(other.colorIndex) + , totalLines(other.totalLines) + , pointsPerLine(other.pointsPerLine) + , vertexBuffer(QOpenGLBuffer::VertexBuffer) + , colorBuffer(QOpenGLBuffer::VertexBuffer) + , vboCreated(false) + { + // VBO 需要在 GL 上下文中重建，标记为未创建 + other.vboCreated = false; + } + + PointCloudData& operator=(PointCloudData&& other) noexcept + { + if (this != &other) { + // 释放自身 VBO + if (vboCreated) { + vertexBuffer.destroy(); + colorBuffer.destroy(); + vboCreated = false; + } + vertices = std::move(other.vertices); + colors = std::move(other.colors); + lineIndices = std::move(other.lineIndices); + originalIndices = std::move(other.originalIndices); + hasColor = other.hasColor; + hasLineInfo = other.hasLineInfo; + name = std::move(other.name); + colorIndex = other.colorIndex; + totalLines = other.totalLines; + pointsPerLine = other.pointsPerLine; + // VBO 需要重建 + other.vboCreated = false; + } + return *this; + } + + // 禁止拷贝 + PointCloudData(const PointCloudData&) = delete; + PointCloudData& operator=(const PointCloudData&) = delete; + }; + + void computeBoundingBox(); + void setCurrentColor(PointCloudColor color); + void setColorByIndex(int colorIndex); // 根据索引设置颜色 + SelectedPointInfo pickPoint(int screenX, int screenY); + void drawSelectedPoints(); + void drawMeasurementLine(); + void drawAxis(); + void drawSelectedLine(); // 绘制选中的线 + void drawLineSegments(); // 绘制线段 + void drawPosePoints(); // 绘制姿态点 + void uploadToVBO(PointCloudData& data); // 上传数据到 VBO + void releaseVBO(PointCloudData& data); // 释放 VBO 资源 + + std::vector m_pointClouds; + + QMatrix4x4 m_projection; + QMatrix4x4 m_view; + QMatrix4x4 m_model; + + float m_distance; + float m_rotationX; + float m_rotationY; + float m_rotationZ; + QVector3D m_center; + QVector3D m_pan; + QVector3D m_minBound; + QVector3D m_maxBound; + + QPoint m_lastMousePos; + bool m_leftButtonPressed; + bool m_rightButtonPressed; + bool m_middleButtonPressed; + + PointCloudColor m_currentColor; + float m_pointSize; + + LineSelectMode m_lineSelectMode; + EulerRotationOrder m_eulerRotationOrder; + bool m_measureDistanceEnabled; + QVector m_selectedPoints; + SelectedLineInfo m_selectedLine; + static const int MAX_SELECTED_POINTS = 2; + + // 列表高亮点（与选点功能区分） + bool m_hasListHighlightPoint; + QVector3D m_listHighlightPoint; + + int m_colorIndex; // 颜色轮换索引 + static const int COLOR_COUNT = 7; // 可用颜色数量 + + // 线段和姿态点数据 + QVector m_lineSegments; + QVector m_posePoints; +}; + +#endif // POINT_CLOUD_GL_WIDGET_H diff --git a/CloudView/Src/CloudViewMainWindow.cpp b/CloudView/Src/CloudViewMainWindow.cpp new file mode 100644 index 0000000..2d93329 --- /dev/null +++ b/CloudView/Src/CloudViewMainWindow.cpp @@ -0,0 +1,1670 @@ +#include "CloudViewMainWindow.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "VrLog.h" + +CloudViewMainWindow::CloudViewMainWindow(QWidget* parent) + : QMainWindow(parent) + , m_glWidget(nullptr) + , m_converter(std::make_unique()) + , m_cloudCount(0) + , m_currentLineNum(0) + , m_currentLinePtNum(0) + , m_linePointsDialog(nullptr) + , m_linePointsTable(nullptr) +{ + setupUI(); + LOG_INFO("CloudViewMainWindow initialized\n"); +} + +CloudViewMainWindow::~CloudViewMainWindow() +{ +} + +void CloudViewMainWindow::setupUI() +{ + // 创建中央控件 + QWidget* centralWidget = new QWidget(this); + setCentralWidget(centralWidget); + + // 创建主布局 + QHBoxLayout* mainLayout = new QHBoxLayout(centralWidget); + mainLayout->setContentsMargins(5, 5, 5, 5); + mainLayout->setSpacing(5); + + // 创建分割器 + QSplitter* splitter = new QSplitter(Qt::Horizontal, centralWidget); + + // 左侧：点云显示区域 + QWidget* viewerArea = createViewerArea(); + splitter->addWidget(viewerArea); + + // 右侧：控制面板 + QWidget* controlPanel = createControlPanel(); + splitter->addWidget(controlPanel); + + // 设置分割器初始大小（左侧 70%，右侧 30%） + splitter->setSizes({700, 300}); + + mainLayout->addWidget(splitter); + + // 状态栏 + statusBar()->showMessage("就绪"); +} + +QWidget* CloudViewMainWindow::createViewerArea() +{ + QWidget* widget = new QWidget(this); + QVBoxLayout* layout = new QVBoxLayout(widget); + layout->setContentsMargins(0, 0, 0, 0); + + m_glWidget = new PointCloudGLWidget(widget); + m_glWidget->setMinimumSize(400, 300); // 设置最小尺寸 + m_glWidget->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding); + layout->addWidget(m_glWidget); + + // 连接信号 + connect(m_glWidget, &PointCloudGLWidget::pointSelected, + this, &CloudViewMainWindow::onPointSelected); + connect(m_glWidget, &PointCloudGLWidget::twoPointsSelected, + this, &CloudViewMainWindow::onTwoPointsSelected); + connect(m_glWidget, &PointCloudGLWidget::lineSelected, + this, &CloudViewMainWindow::onLineSelected); + connect(m_glWidget, &PointCloudGLWidget::viewAnglesChanged, + this, &CloudViewMainWindow::onViewAnglesChanged); + + return widget; +} + +QWidget* CloudViewMainWindow::createControlPanel() +{ + QWidget* widget = new QWidget(this); + widget->setMaximumWidth(350); + QVBoxLayout* layout = new QVBoxLayout(widget); + layout->setContentsMargins(5, 5, 5, 5); + layout->setSpacing(5); + + // 文件操作组 + layout->addWidget(createFileGroup()); + + // 视图方向组 + layout->addWidget(createViewGroup()); + + // 创建 Tab 控件 + QTabWidget* tabWidget = new QTabWidget(widget); + tabWidget->addTab(createMeasurePage(), "选点测距"); + tabWidget->addTab(createLinePage(), "选线"); + tabWidget->addTab(createTransformPage(), "矩阵变换"); + layout->addWidget(tabWidget); + + // 点云列表组 + layout->addWidget(createCloudListGroup()); + + // 添加弹性空间 + layout->addStretch(); + + return widget; +} + +QGroupBox* CloudViewMainWindow::createFileGroup() +{ + QGroupBox* group = new QGroupBox("文件操作", this); + group->setMaximumWidth(350); + QVBoxLayout* layout = new QVBoxLayout(group); + layout->setSpacing(3); + layout->setContentsMargins(5, 5, 5, 5); + + m_btnOpenFile = new QPushButton("打开点云", group); + m_btnOpenFile->setMinimumHeight(24); + m_btnOpenFile->setMaximumHeight(24); + connect(m_btnOpenFile, &QPushButton::clicked, this, &CloudViewMainWindow::onOpenFile); + layout->addWidget(m_btnOpenFile); + + m_btnOpenSegment = new QPushButton("打开线段 {x,y,z}-{x,y,z}", group); + m_btnOpenSegment->setMinimumHeight(24); + m_btnOpenSegment->setMaximumHeight(24); + connect(m_btnOpenSegment, &QPushButton::clicked, this, &CloudViewMainWindow::onOpenSegmentFile); + layout->addWidget(m_btnOpenSegment); + + m_btnOpenPose = new QPushButton("打开姿态点 {x,y,z}-{r,p,y}", group); + m_btnOpenPose->setMinimumHeight(24); + m_btnOpenPose->setMaximumHeight(24); + connect(m_btnOpenPose, &QPushButton::clicked, this, &CloudViewMainWindow::onOpenPoseFile); + layout->addWidget(m_btnOpenPose); + + m_btnClearAll = new QPushButton("清除所有", group); + m_btnClearAll->setMinimumHeight(24); + m_btnClearAll->setMaximumHeight(24); + connect(m_btnClearAll, &QPushButton::clicked, this, &CloudViewMainWindow::onClearAll); + layout->addWidget(m_btnClearAll); + + return group; +} + +QGroupBox* CloudViewMainWindow::createViewGroup() +{ + QGroupBox* group = new QGroupBox("视图方向", this); + group->setMaximumWidth(350); + QVBoxLayout* mainLayout = new QVBoxLayout(group); + mainLayout->setSpacing(4); + mainLayout->setContentsMargins(5, 5, 5, 5); + + // 视角预设按钮，使用水平布局 + struct ViewPreset { + const char* name; + float rotX; + float rotY; + float rotZ; + }; + + ViewPreset presets[] = { + {"正视", 0.0f, 0.0f, 0.0f}, + {"后视", 0.0f, 180.0f, 0.0f}, + {"左侧", 0.0f, -90.0f, 0.0f}, + {"右侧", 0.0f, 90.0f, 0.0f}, + {"俯视", -90.0f, 0.0f, 0.0f}, + {"仰视", 90.0f, 0.0f, 0.0f}, + }; + + QHBoxLayout* btnLayout = new QHBoxLayout(); + btnLayout->setSpacing(3); + for (const auto& preset : presets) { + QPushButton* btn = new QPushButton(preset.name, group); + btn->setMinimumHeight(24); + btn->setMaximumHeight(24); + float rx = preset.rotX; + float ry = preset.rotY; + float rz = preset.rotZ; + connect(btn, &QPushButton::clicked, this, [this, rx, ry, rz]() { + m_glWidget->setViewAngles(rx, ry, rz); + // 更新显示的角度值 + m_editRotX->setText(QString::number(rx, 'f', 1)); + m_editRotY->setText(QString::number(ry, 'f', 1)); + m_editRotZ->setText(QString::number(rz, 'f', 1)); + }); + btnLayout->addWidget(btn); + } + mainLayout->addLayout(btnLayout); + + QLabel* lblTip2 = new QLabel("左键旋转XY，Alt+左键或右键旋转Z轴，中键拖动平移", group); + lblTip2->setWordWrap(true); + lblTip2->setStyleSheet("color: gray; font-size: 12px;"); + mainLayout->addWidget(lblTip2); + + // 旋转角度输入（三行布局） + QGridLayout* angleGrid = new QGridLayout(); + angleGrid->setSpacing(5); + angleGrid->setContentsMargins(0, 0, 0, 0); + + // RotX + QLabel* lblRotX = new QLabel("RotX:", group); + angleGrid->addWidget(lblRotX, 0, 0); + m_editRotX = new QLineEdit("0.0", group); + m_editRotX->setMaximumWidth(60); + m_editRotX->setMaximumHeight(24); + angleGrid->addWidget(m_editRotX, 0, 1); + + // RotY + QLabel* lblRotY = new QLabel("RotY:", group); + angleGrid->addWidget(lblRotY, 0, 2); + m_editRotY = new QLineEdit("0.0", group); + m_editRotY->setMaximumWidth(60); + m_editRotY->setMaximumHeight(24); + angleGrid->addWidget(m_editRotY, 0, 3); + + // RotZ + QLabel* lblRotZ = new QLabel("RotZ:", group); + angleGrid->addWidget(lblRotZ, 0, 4); + m_editRotZ = new QLineEdit("0.0", group); + m_editRotZ->setMaximumWidth(60); + m_editRotZ->setMaximumHeight(24); + angleGrid->addWidget(m_editRotZ, 0, 5); + + // 应用按钮 + QPushButton* btnApply = new QPushButton("应用", group); + btnApply->setMaximumWidth(50); + btnApply->setMaximumHeight(24); + connect(btnApply, &QPushButton::clicked, this, [this]() { + bool okX, okY, okZ; + float rotX = m_editRotX->text().toFloat(&okX); + float rotY = m_editRotY->text().toFloat(&okY); + float rotZ = m_editRotZ->text().toFloat(&okZ); + if (okX && okY && okZ) { + m_glWidget->setViewAngles(rotX, rotY, rotZ); + } + }); + angleGrid->addWidget(btnApply, 0, 6); + + mainLayout->addLayout(angleGrid); + + return group; +} + +QWidget* CloudViewMainWindow::createMeasurePage() +{ + QWidget* page = new QWidget(this); + QVBoxLayout* layout = new QVBoxLayout(page); + layout->setContentsMargins(0, 5, 0, 0); + layout->addWidget(createMeasureGroup()); + layout->addStretch(); + return page; +} + +QWidget* CloudViewMainWindow::createLinePage() +{ + QWidget* page = new QWidget(this); + QVBoxLayout* layout = new QVBoxLayout(page); + layout->setContentsMargins(0, 5, 0, 0); + + // 选线拟合组 + layout->addWidget(createLineGroup()); + + // 输入线段组 + QGroupBox* inputLineGroup = new QGroupBox("输入线段", page); + QVBoxLayout* inputLayout = new QVBoxLayout(inputLineGroup); + + // 提示 + QLabel* lblTip = new QLabel("输入两点坐标显示线段", inputLineGroup); + lblTip->setStyleSheet("color: gray; font-size: 10px;"); + inputLayout->addWidget(lblTip); + + // 点1坐标 + QLabel* lblPoint1 = new QLabel("点1:", inputLineGroup); + lblPoint1->setStyleSheet("font-weight: bold;"); + inputLayout->addWidget(lblPoint1); + + QHBoxLayout* p1Layout = new QHBoxLayout(); + p1Layout->addWidget(new QLabel("X:", inputLineGroup)); + m_editLineX1 = new QLineEdit("0.0", inputLineGroup); + m_editLineX1->setMaximumWidth(70); + p1Layout->addWidget(m_editLineX1); + + p1Layout->addWidget(new QLabel("Y:", inputLineGroup)); + m_editLineY1 = new QLineEdit("0.0", inputLineGroup); + m_editLineY1->setMaximumWidth(70); + p1Layout->addWidget(m_editLineY1); + + p1Layout->addWidget(new QLabel("Z:", inputLineGroup)); + m_editLineZ1 = new QLineEdit("0.0", inputLineGroup); + m_editLineZ1->setMaximumWidth(70); + p1Layout->addWidget(m_editLineZ1); + inputLayout->addLayout(p1Layout); + + // 点2坐标 + QLabel* lblPoint2 = new QLabel("点2:", inputLineGroup); + lblPoint2->setStyleSheet("font-weight: bold;"); + inputLayout->addWidget(lblPoint2); + + QHBoxLayout* p2Layout = new QHBoxLayout(); + p2Layout->addWidget(new QLabel("X:", inputLineGroup)); + m_editLineX2 = new QLineEdit("100.0", inputLineGroup); + m_editLineX2->setMaximumWidth(70); + p2Layout->addWidget(m_editLineX2); + + p2Layout->addWidget(new QLabel("Y:", inputLineGroup)); + m_editLineY2 = new QLineEdit("100.0", inputLineGroup); + m_editLineY2->setMaximumWidth(70); + p2Layout->addWidget(m_editLineY2); + + p2Layout->addWidget(new QLabel("Z:", inputLineGroup)); + m_editLineZ2 = new QLineEdit("100.0", inputLineGroup); + m_editLineZ2->setMaximumWidth(70); + p2Layout->addWidget(m_editLineZ2); + inputLayout->addLayout(p2Layout); + + // 按钮 + QHBoxLayout* btnLayout = new QHBoxLayout(); + m_btnShowLine = new QPushButton("显示线段", inputLineGroup); + connect(m_btnShowLine, &QPushButton::clicked, this, &CloudViewMainWindow::onShowInputLine); + btnLayout->addWidget(m_btnShowLine); + + m_btnClearLine2 = new QPushButton("清除线段", inputLineGroup); + connect(m_btnClearLine2, &QPushButton::clicked, this, &CloudViewMainWindow::onClearInputLine); + btnLayout->addWidget(m_btnClearLine2); + inputLayout->addLayout(btnLayout); + + layout->addWidget(inputLineGroup); + layout->addStretch(); + return page; +} + +QGroupBox* CloudViewMainWindow::createMeasureGroup() +{ + QGroupBox* group = new QGroupBox("选点测距", this); + group->setMaximumWidth(350); + QVBoxLayout* layout = new QVBoxLayout(group); + layout->setSpacing(4); + layout->setContentsMargins(5, 5, 5, 5); + + // 操作说明 + QLabel* lblTip = new QLabel("Ctrl+左键点击点云选择点", group); + lblTip->setWordWrap(true); + lblTip->setStyleSheet("color: gray; font-size: 12px;"); + layout->addWidget(lblTip); + // 测距复选框 + m_cbMeasureDistance = new QCheckBox("启用测距", group); + m_cbMeasureDistance->setChecked(false); + connect(m_cbMeasureDistance, &QCheckBox::toggled, this, [this](bool checked) { + m_glWidget->setMeasureDistanceEnabled(checked); + m_glWidget->clearSelectedPoints(); + m_lblPoint1->setText("点1: --"); + m_lblPoint2->setText("点2: --"); + m_lblDistance->setText("--"); + }); + layout->addWidget(m_cbMeasureDistance); + + // 清除选点按钮 + m_btnClearPoints = new QPushButton("清除选点", group); + m_btnClearPoints->setMinimumHeight(24); + connect(m_btnClearPoints, &QPushButton::clicked, this, &CloudViewMainWindow::onClearSelectedPoints); + layout->addWidget(m_btnClearPoints); + + // 分隔线 + QFrame* line1 = new QFrame(group); + line1->setFrameShape(QFrame::HLine); + line1->setFrameShadow(QFrame::Sunken); + layout->addWidget(line1); + + // 点1信息（坐标直接显示在标题后） + m_lblPoint1 = new QLabel("点1: --", group); + m_lblPoint1->setWordWrap(true); + m_lblPoint1->setStyleSheet("font-weight: bold; font-size: 11px;"); + layout->addWidget(m_lblPoint1); + + // 点1姿态输入（紧凑布局） + QHBoxLayout* pose1Layout = new QHBoxLayout(); + pose1Layout->setSpacing(5); + pose1Layout->addWidget(new QLabel("RX:", group)); + m_editRx1 = new QLineEdit("0.0", group); + m_editRx1->setMaximumWidth(50); + pose1Layout->addWidget(m_editRx1); + + pose1Layout->addWidget(new QLabel("RY:", group)); + m_editRy1 = new QLineEdit("0.0", group); + m_editRy1->setMaximumWidth(50); + pose1Layout->addWidget(m_editRy1); + + pose1Layout->addWidget(new QLabel("RZ:", group)); + m_editRz1 = new QLineEdit("0.0", group); + m_editRz1->setMaximumWidth(50); + pose1Layout->addWidget(m_editRz1); + pose1Layout->addStretch(); + layout->addLayout(pose1Layout); + + m_btnShowPose1 = new QPushButton("显示点1姿态", group); + m_btnShowPose1->setMinimumHeight(24); + connect(m_btnShowPose1, &QPushButton::clicked, this, &CloudViewMainWindow::onShowPose1); + layout->addWidget(m_btnShowPose1); + + // 分隔线 + QFrame* line2 = new QFrame(group); + line2->setFrameShape(QFrame::HLine); + line2->setFrameShadow(QFrame::Sunken); + layout->addWidget(line2); + + // 点2信息（坐标直接显示在标题后） + m_lblPoint2 = new QLabel("点2: --", group); + m_lblPoint2->setWordWrap(true); + m_lblPoint2->setStyleSheet("font-weight: bold; font-size: 11px;"); + layout->addWidget(m_lblPoint2); + + // 点2姿态输入（紧凑布局） + QHBoxLayout* pose2Layout = new QHBoxLayout(); + pose2Layout->setSpacing(5); + pose2Layout->addWidget(new QLabel("RX:", group)); + m_editRx2 = new QLineEdit("0.0", group); + m_editRx2->setMaximumWidth(50); + pose2Layout->addWidget(m_editRx2); + + pose2Layout->addWidget(new QLabel("RY:", group)); + m_editRy2 = new QLineEdit("0.0", group); + m_editRy2->setMaximumWidth(50); + pose2Layout->addWidget(m_editRy2); + + pose2Layout->addWidget(new QLabel("RZ:", group)); + m_editRz2 = new QLineEdit("0.0", group); + m_editRz2->setMaximumWidth(50); + pose2Layout->addWidget(m_editRz2); + pose2Layout->addStretch(); + layout->addLayout(pose2Layout); + + m_btnShowPose2 = new QPushButton("显示点2姿态", group); + m_btnShowPose2->setMinimumHeight(24); + connect(m_btnShowPose2, &QPushButton::clicked, this, &CloudViewMainWindow::onShowPose2); + layout->addWidget(m_btnShowPose2); + + // 分隔线 + QFrame* line3 = new QFrame(group); + line3->setFrameShape(QFrame::HLine); + line3->setFrameShadow(QFrame::Sunken); + layout->addWidget(line3); + + // 欧拉角旋转顺序选择 + QLabel* lblEulerOrder = new QLabel("欧拉角旋转顺序:", group); + lblEulerOrder->setStyleSheet("font-weight: bold; font-size: 10px;"); + layout->addWidget(lblEulerOrder); + + m_comboEulerOrder = new QComboBox(group); + m_comboEulerOrder->addItem("ZYX (Yaw-Pitch-Roll)", static_cast(EulerRotationOrder::ZYX)); + m_comboEulerOrder->addItem("XYZ (Roll-Pitch-Yaw)", static_cast(EulerRotationOrder::XYZ)); + m_comboEulerOrder->addItem("ZXY (Yaw-Roll-Pitch)", static_cast(EulerRotationOrder::ZXY)); + m_comboEulerOrder->addItem("YXZ (Pitch-Roll-Yaw)", static_cast(EulerRotationOrder::YXZ)); + m_comboEulerOrder->addItem("XZY (Roll-Yaw-Pitch)", static_cast(EulerRotationOrder::XZY)); + m_comboEulerOrder->addItem("YZX (Pitch-Yaw-Roll)", static_cast(EulerRotationOrder::YZX)); + m_comboEulerOrder->setCurrentIndex(0); + m_comboEulerOrder->setMaximumHeight(24); + connect(m_comboEulerOrder, QOverload::of(&QComboBox::currentIndexChanged), + this, &CloudViewMainWindow::onEulerOrderChanged); + layout->addWidget(m_comboEulerOrder); + + // 分隔线 + QFrame* line4 = new QFrame(group); + line4->setFrameShape(QFrame::HLine); + line4->setFrameShadow(QFrame::Sunken); + layout->addWidget(line4); + + // 距离信息 + QHBoxLayout* distLayout = new QHBoxLayout(); + QLabel* lblDistTitle = new QLabel("距离:", group); + lblDistTitle->setStyleSheet("font-size: 10px;"); + m_lblDistance = new QLabel("--", group); + m_lblDistance->setStyleSheet("font-weight: bold; color: green; font-size: 10px;"); + distLayout->addWidget(lblDistTitle); + distLayout->addWidget(m_lblDistance, 1); + layout->addLayout(distLayout); + + return group; +} + +QGroupBox* CloudViewMainWindow::createLineGroup() +{ + QGroupBox* group = new QGroupBox("选线", this); + group->setMaximumWidth(400); + QVBoxLayout* layout = new QVBoxLayout(group); + layout->setSpacing(3); + layout->setContentsMargins(5, 5, 5, 5); + + // 操作说明 + QLabel* lblTip = new QLabel("Shift+左键点击点云选择线", group); + lblTip->setWordWrap(true); + lblTip->setStyleSheet("color: gray; font-size: 9px;"); + layout->addWidget(lblTip); + + // 选线模式选择 + QHBoxLayout* modeLayout = new QHBoxLayout(); + modeLayout->setSpacing(5); + m_rbVertical = new QRadioButton("纵向", group); + m_rbHorizontal = new QRadioButton("横向", group); + m_rbVertical->setChecked(true); + connect(m_rbVertical, &QRadioButton::toggled, this, &CloudViewMainWindow::onLineSelectModeChanged); + modeLayout->addWidget(m_rbVertical); + modeLayout->addWidget(m_rbHorizontal); + modeLayout->addStretch(); + layout->addLayout(modeLayout); + + // 输入索引选择 + QHBoxLayout* inputLayout = new QHBoxLayout(); + inputLayout->setSpacing(5); + m_lineNumberInput = new QLineEdit(group); + m_lineNumberInput->setPlaceholderText("输入索引"); + m_lineNumberInput->setMaximumHeight(24); + m_btnSelectByNumber = new QPushButton("选择", group); + m_btnSelectByNumber->setMaximumHeight(24); + m_btnSelectByNumber->setMaximumWidth(50); + connect(m_btnSelectByNumber, &QPushButton::clicked, this, &CloudViewMainWindow::onSelectLineByNumber); + inputLayout->addWidget(m_lineNumberInput, 1); + inputLayout->addWidget(m_btnSelectByNumber); + layout->addLayout(inputLayout); + + // 清除选线按钮 + m_btnClearLine = new QPushButton("清除选线", group); + m_btnClearLine->setMinimumHeight(24); + connect(m_btnClearLine, &QPushButton::clicked, this, &CloudViewMainWindow::onClearLinePoints); + layout->addWidget(m_btnClearLine); + + // 显示线上点按钮 + m_btnShowLinePoints = new QPushButton("显示线上点", group); + m_btnShowLinePoints->setMinimumHeight(24); + connect(m_btnShowLinePoints, &QPushButton::clicked, this, &CloudViewMainWindow::onShowLinePoints); + layout->addWidget(m_btnShowLinePoints); + + // 线索引信息 + QHBoxLayout* indexLayout = new QHBoxLayout(); + QLabel* lblIndexTitle = new QLabel("索引:", group); + lblIndexTitle->setStyleSheet("font-size: 10px;"); + m_lblLineIndex = new QLabel("--", group); + m_lblLineIndex->setStyleSheet("font-size: 10px;"); + indexLayout->addWidget(lblIndexTitle); + indexLayout->addWidget(m_lblLineIndex, 1); + layout->addLayout(indexLayout); + + // 点数信息 + QHBoxLayout* countLayout = new QHBoxLayout(); + QLabel* lblCountTitle = new QLabel("点数:", group); + lblCountTitle->setStyleSheet("font-size: 10px;"); + m_lblLinePointCount = new QLabel("--", group); + m_lblLinePointCount->setStyleSheet("font-size: 10px;"); + countLayout->addWidget(lblCountTitle); + countLayout->addWidget(m_lblLinePointCount, 1); + layout->addLayout(countLayout); + + return group; +} + +QGroupBox* CloudViewMainWindow::createCloudListGroup() +{ + QGroupBox* group = new QGroupBox("点云列表", this); + group->setMaximumWidth(350); + QVBoxLayout* layout = new QVBoxLayout(group); + layout->setSpacing(3); + layout->setContentsMargins(5, 5, 5, 5); + + m_cloudList = new QListWidget(group); + m_cloudList->setMinimumHeight(70); + layout->addWidget(m_cloudList); + + return group; +} + +void CloudViewMainWindow::onOpenFile() +{ + QString fileName = QFileDialog::getOpenFileName( + this, + "打开点云文件", + QString(), + "点云文件 (*.pcd *.txt);;PCD 文件 (*.pcd);;TXT 文件 (*.txt);;所有文件 (*.*)" + ); + + if (fileName.isEmpty()) { + return; + } + + statusBar()->showMessage("正在加载点云..."); + + QFileInfo fileInfo(fileName); + QString ext = fileInfo.suffix().toLower(); + QString cloudName = QString("Cloud_%1 (%2)").arg(++m_cloudCount).arg(fileInfo.fileName()); + + // 统一使用 PointCloudXYZRGB 加载，支持带颜色和不带颜色的文件 + PointCloudXYZRGB rgbCloud; + int result = m_converter->loadFromFile(fileName.toStdString(), rgbCloud); + + if (result != 0) { + QMessageBox::critical(this, "错误", QString("加载点云失败: %1").arg(QString::fromStdString(m_converter->getLastError()))); + statusBar()->showMessage("加载失败"); + return; + } + + // 保存原始完整点云 XYZ（用于旋转/线上点等功能） + m_originalCloud.clear(); + m_originalCloud.reserve(rgbCloud.size()); + for (size_t i = 0; i < rgbCloud.points.size(); ++i) { + const auto& pt = rgbCloud.points[i]; + Point3D xyzPt(pt.x, pt.y, pt.z); + int lineIdx = (i < rgbCloud.lineIndices.size()) ? rgbCloud.lineIndices[i] : 0; + m_originalCloud.push_back(xyzPt, lineIdx); + } + + // 根据是否有颜色选择显示方式 + bool hadColor = m_converter->lastLoadHadColor(); + + // PCD 文件：检查是否有非白色的颜色数据来判断 + if (ext == "pcd") { + hadColor = false; + for (size_t i = 0; i < rgbCloud.points.size(); ++i) { + const auto& pt = rgbCloud.points[i]; + if (pt.r != 255 || pt.g != 255 || pt.b != 255) { + hadColor = true; + break; + } + } + } + + if (hadColor) { + // 有颜色数据：使用 addPointCloud(PointCloudXYZRGB) 显示原始颜色 + m_glWidget->addPointCloud(rgbCloud, cloudName); + LOG_INFO("[CloudView] Loaded with original color, points: %zu\n", rgbCloud.size()); + } else { + // 无颜色数据：使用 addPointCloud(PointCloudXYZ) 显示（颜色表轮换） + m_glWidget->addPointCloud(m_originalCloud, cloudName); + LOG_INFO("[CloudView] Loaded without color (color table), points: %zu\n", m_originalCloud.size()); + } + + // 保存线信息（用于旋转功能） + int lineCount = m_converter->getLoadedLineCount(); + if (lineCount > 0) { + m_currentLineNum = lineCount; + m_currentLinePtNum = static_cast(m_converter->getLoadedPointCount()) / lineCount; + } else { + m_currentLineNum = 0; + m_currentLinePtNum = 0; + } + + // 添加到列表 + QString itemText; + if (lineCount > 0) { + itemText = QString("%1 - %2 点, %3 线").arg(cloudName).arg(m_converter->getLoadedPointCount()).arg(lineCount); + } else { + itemText = QString("%1 - %2 点").arg(cloudName).arg(m_converter->getLoadedPointCount()); + } + if (hadColor) { + itemText += " [彩色]"; + } + m_cloudList->addItem(itemText); + + statusBar()->showMessage(QString("已加载 %1 个点%2").arg(m_converter->getLoadedPointCount()).arg(hadColor ? " (彩色)" : "")); +} + +void CloudViewMainWindow::onOpenSegmentFile() +{ + QString fileName = QFileDialog::getOpenFileName( + this, + "打开线段文件", + QString(), + "文本文件 (*.txt);;所有文件 (*.*)" + ); + + if (fileName.isEmpty()) { + return; + } + + statusBar()->showMessage("正在加载线段..."); + + QFile file(fileName); + if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) { + QMessageBox::critical(this, "错误", QString("无法打开文件: %1").arg(fileName)); + statusBar()->showMessage("加载失败"); + return; + } + + QVector segments; + QTextStream in(&file); + int lineNum = 0; + int validCount = 0; + + while (!in.atEnd()) { + QString line = in.readLine().trimmed(); + lineNum++; + + // 跳过空行和注释 + if (line.isEmpty() || line.startsWith('#')) { + continue; + } + + // 解析格式：{x,y,z}-{x,y,z} + QRegExp regex("\\{([^}]+)\\}-\\{([^}]+)\\}"); + if (regex.indexIn(line) == -1) { + LOG_WARN("[CloudView] Line %d: Invalid format, expected {x,y,z}-{x,y,z}\n", lineNum); + continue; + } + + QString point1Str = regex.cap(1); + QString point2Str = regex.cap(2); + + QStringList p1 = point1Str.split(','); + QStringList p2 = point2Str.split(','); + + if (p1.size() != 3 || p2.size() != 3) { + LOG_WARN("[CloudView] Line %d: Invalid point format\n", lineNum); + continue; + } + + bool ok = true; + float x1 = p1[0].toFloat(&ok); if (!ok) continue; + float y1 = p1[1].toFloat(&ok); if (!ok) continue; + float z1 = p1[2].toFloat(&ok); if (!ok) continue; + float x2 = p2[0].toFloat(&ok); if (!ok) continue; + float y2 = p2[1].toFloat(&ok); if (!ok) continue; + float z2 = p2[2].toFloat(&ok); if (!ok) continue; + + // 默认白色 + segments.append(LineSegment(x1, y1, z1, x2, y2, z2, 1.0f, 1.0f, 1.0f)); + validCount++; + } + + file.close(); + + if (segments.isEmpty()) { + QMessageBox::warning(this, "警告", "文件中没有有效的线段数据"); + statusBar()->showMessage("加载失败"); + return; + } + + m_glWidget->addLineSegments(segments); + statusBar()->showMessage(QString("已加载 %1 条线段").arg(validCount)); + LOG_INFO("[CloudView] Loaded %d line segments from %s\n", validCount, fileName.toStdString().c_str()); +} + +void CloudViewMainWindow::onOpenPoseFile() +{ + QString fileName = QFileDialog::getOpenFileName( + this, + "打开姿态点文件", + QString(), + "文本文件 (*.txt);;所有文件 (*.*)" + ); + + if (fileName.isEmpty()) { + return; + } + + statusBar()->showMessage("正在加载姿态点..."); + + QFile file(fileName); + if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) { + QMessageBox::critical(this, "错误", QString("无法打开文件: %1").arg(fileName)); + statusBar()->showMessage("加载失败"); + return; + } + + QVector poses; + QTextStream in(&file); + int lineNum = 0; + int validCount = 0; + + while (!in.atEnd()) { + QString line = in.readLine().trimmed(); + lineNum++; + + // 跳过空行和注释 + if (line.isEmpty() || line.startsWith('#')) { + continue; + } + + // 解析格式：{x,y,z}-{r,p,y} + QRegExp regex("\\{([^}]+)\\}-\\{([^}]+)\\}"); + if (regex.indexIn(line) == -1) { + LOG_WARN("[CloudView] Line %d: Invalid format, expected {x,y,z}-{r,p,y}\n", lineNum); + continue; + } + + QString posStr = regex.cap(1); + QString rotStr = regex.cap(2); + + QStringList pos = posStr.split(','); + QStringList rot = rotStr.split(','); + + if (pos.size() != 3 || rot.size() != 3) { + LOG_WARN("[CloudView] Line %d: Invalid point format\n", lineNum); + continue; + } + + bool ok = true; + float x = pos[0].toFloat(&ok); if (!ok) continue; + float y = pos[1].toFloat(&ok); if (!ok) continue; + float z = pos[2].toFloat(&ok); if (!ok) continue; + float roll = rot[0].toFloat(&ok); if (!ok) continue; + float pitch = rot[1].toFloat(&ok); if (!ok) continue; + float yaw = rot[2].toFloat(&ok); if (!ok) continue; + + // 固定大小为10 + float scale = 10.0f; + + poses.append(PosePoint(x, y, z, roll, pitch, yaw, scale)); + validCount++; + } + + file.close(); + + if (poses.isEmpty()) { + QMessageBox::warning(this, "警告", "文件中没有有效的姿态点数据"); + statusBar()->showMessage("加载失败"); + return; + } + + m_glWidget->addPosePoints(poses); + statusBar()->showMessage(QString("已加载 %1 个姿态点").arg(validCount)); + LOG_INFO("[CloudView] Loaded %d pose points from %s\n", validCount, fileName.toStdString().c_str()); +} + +void CloudViewMainWindow::onClearAll() +{ + m_glWidget->clearPointClouds(); + m_cloudList->clear(); + m_cloudCount = 0; + m_currentLineNum = 0; + m_currentLinePtNum = 0; + m_originalCloud.clear(); + + // 清除选点信息 + m_lblPoint1->setText("点1: --"); + m_lblPoint2->setText("点2: --"); + m_lblDistance->setText("--"); + + // 清除选线信息 + m_lblLineIndex->setText("--"); + m_lblLinePointCount->setText("--"); + + statusBar()->showMessage("已清除所有数据"); +} + +void CloudViewMainWindow::onResetView() +{ + m_glWidget->resetView(); + statusBar()->showMessage("视图已重置"); +} + +void CloudViewMainWindow::onClearSelectedPoints() +{ + m_glWidget->clearSelectedPoints(); + m_glWidget->clearPosePoints(); // 清除选点时也清除姿态 + m_lblPoint1->setText("点1: --"); + m_lblPoint2->setText("点2: --"); + m_lblDistance->setText("--"); + statusBar()->showMessage("已清除选中的点"); +} + +void CloudViewMainWindow::onPointSelected(const SelectedPointInfo& point) +{ + if (!point.valid) { + return; + } + + // 选择新点时清除之前的姿态显示 + m_glWidget->clearPosePoints(); + + updateSelectedPointsDisplay(); + + // 状态栏显示：坐标、线号、索引号 + QString statusMsg = QString("选中点: (%1, %2, %3)") + .arg(point.x, 0, 'f', 3) + .arg(point.y, 0, 'f', 3) + .arg(point.z, 0, 'f', 3); + if (point.lineIndex >= 0) { + statusMsg += QString(" | 线号: %1").arg(point.lineIndex); + if (point.pointIndexInLine >= 0) { + statusMsg += QString(" | 索引号: %1").arg(point.pointIndexInLine); + } + } + statusBar()->showMessage(statusMsg); +} + +void CloudViewMainWindow::onTwoPointsSelected(const SelectedPointInfo& p1, const SelectedPointInfo& p2, float distance) +{ + updateSelectedPointsDisplay(); + m_lblDistance->setText(QString("%1 mm").arg(distance, 0, 'f', 3)); + statusBar()->showMessage(QString("测量距离: %1 mm").arg(distance, 0, 'f', 3)); +} + +void CloudViewMainWindow::updateSelectedPointsDisplay() +{ + auto selectedPoints = m_glWidget->getSelectedPoints(); + + if (selectedPoints.size() >= 1 && selectedPoints[0].valid) { + QString text; + if (selectedPoints[0].lineIndex >= 0) { + text = QString("点1: 线号:%1 点序:%2 x:%3 y:%4 z:%5") + .arg(selectedPoints[0].lineIndex) + .arg(selectedPoints[0].pointIndexInLine) + .arg(selectedPoints[0].x, 0, 'f', 3) + .arg(selectedPoints[0].y, 0, 'f', 3) + .arg(selectedPoints[0].z, 0, 'f', 3); + } else { + text = QString("点1: x:%1 y:%2 z:%3") + .arg(selectedPoints[0].x, 0, 'f', 3) + .arg(selectedPoints[0].y, 0, 'f', 3) + .arg(selectedPoints[0].z, 0, 'f', 3); + } + m_lblPoint1->setText(text); + } else { + m_lblPoint1->setText("点1: --"); + } + + if (selectedPoints.size() >= 2 && selectedPoints[1].valid) { + QString text; + if (selectedPoints[1].lineIndex >= 0) { + text = QString("点2: 线号:%1 点序:%2 x:%3 y:%4 z:%5") + .arg(selectedPoints[1].lineIndex) + .arg(selectedPoints[1].pointIndexInLine) + .arg(selectedPoints[1].x, 0, 'f', 3) + .arg(selectedPoints[1].y, 0, 'f', 3) + .arg(selectedPoints[1].z, 0, 'f', 3); + } else { + text = QString("点2: x:%1 y:%2 z:%3") + .arg(selectedPoints[1].x, 0, 'f', 3) + .arg(selectedPoints[1].y, 0, 'f', 3) + .arg(selectedPoints[1].z, 0, 'f', 3); + } + m_lblPoint2->setText(text); + } else { + m_lblPoint2->setText("点2: --"); + } +} + +void CloudViewMainWindow::onLineSelectModeChanged(bool checked) +{ + if (checked) { + // 纵向模式 + m_glWidget->setLineSelectMode(LineSelectMode::Vertical); + } else { + // 横向模式 + m_glWidget->setLineSelectMode(LineSelectMode::Horizontal); + } + m_lineNumberInput->setPlaceholderText("输入索引"); +} + +void CloudViewMainWindow::onClearLinePoints() +{ + m_glWidget->clearSelectedLine(); + m_glWidget->clearListHighlightPoint(); // 清除列表选中的高亮点 + m_lblLineIndex->setText("--"); + m_lblLinePointCount->setText("--"); + statusBar()->showMessage("已清除选线"); +} + +void CloudViewMainWindow::onLineSelected(const SelectedLineInfo& line) +{ + // 重新选线时清除列表高亮点 + m_glWidget->clearListHighlightPoint(); + + if (!line.valid) { + m_lblLineIndex->setText("--"); + m_lblLinePointCount->setText("--"); + return; + } + + // 状态栏显示：线号/索引号、线点数 + if (line.mode == LineSelectMode::Vertical) { + m_lblLineIndex->setText(QString::number(line.lineIndex)); + statusBar()->showMessage(QString("选中线 | 线号: %1 | 线点数: %2") + .arg(line.lineIndex) + .arg(line.pointCount)); + } else { + // 横向选线：显示索引号 + m_lblLineIndex->setText(QString::number(line.pointIndex)); + statusBar()->showMessage(QString("选中横向线 | 索引号: %1 | 线点数: %2") + .arg(line.pointIndex) + .arg(line.pointCount)); + } + m_lblLinePointCount->setText(QString::number(line.pointCount)); + + // 如果线上点对话框已打开，刷新内容 + updateLinePointsDialog(); +} + +void CloudViewMainWindow::onSelectLineByNumber() +{ + if (m_glWidget->getCloudCount() == 0) { + QMessageBox::warning(this, "提示", "请先加载点云"); + return; + } + + QString text = m_lineNumberInput->text().trimmed(); + if (text.isEmpty()) { + QMessageBox::warning(this, "提示", "请输入索引"); + return; + } + + bool ok; + int index = text.toInt(&ok); + if (!ok || index < 0) { + QMessageBox::warning(this, "提示", "请输入有效的索引（非负整数）"); + return; + } + + bool success = false; + if (m_rbVertical->isChecked()) { + // 纵向选线：直接使用索引 + success = m_glWidget->selectLineByIndex(index); + if (!success) { + QMessageBox::warning(this, "提示", QString("索引 %1 不存在").arg(index)); + } + } else { + // 横向选线：直接使用索引 + success = m_glWidget->selectHorizontalLineByIndex(index); + if (!success) { + QMessageBox::warning(this, "提示", QString("索引 %1 不存在").arg(index)); + } + } +} + +QVector CloudViewMainWindow::getOriginalLinePoints(const SelectedLineInfo& lineInfo) +{ + QVector points; + + if (!lineInfo.valid || m_originalCloud.empty()) { + return points; + } + + if (lineInfo.mode == LineSelectMode::Vertical) { + // 纵向选线：获取同一条扫描线上的所有点 + for (size_t i = 0; i < m_originalCloud.points.size(); ++i) { + if (i < m_originalCloud.lineIndices.size() && + m_originalCloud.lineIndices[i] == lineInfo.lineIndex) { + const auto& pt = m_originalCloud.points[i]; + points.append(QVector3D(pt.x, pt.y, pt.z)); + } + } + } else { + // 横向选线：获取所有线的相同索引点 + if (m_currentLinePtNum > 0 && lineInfo.pointIndex >= 0) { + for (size_t i = 0; i < m_originalCloud.points.size(); ++i) { + int originalIdx = static_cast(i); + if (originalIdx % m_currentLinePtNum == lineInfo.pointIndex) { + const auto& pt = m_originalCloud.points[i]; + points.append(QVector3D(pt.x, pt.y, pt.z)); + } + } + } + } + + return points; +} + +void CloudViewMainWindow::updateLinePointsDialog() +{ + if (!m_linePointsDialog || !m_linePointsTable) { + return; + } + + SelectedLineInfo lineInfo = m_glWidget->getSelectedLine(); + if (!lineInfo.valid) { + m_linePointsTable->setRowCount(0); + m_linePointsDialog->setWindowTitle("线上点坐标"); + m_currentLinePoints.clear(); + return; + } + + // 从原始数据获取线上点（包含0,0,0） + m_currentLinePoints = getOriginalLinePoints(lineInfo); + + // 更新标题 + QString title; + if (lineInfo.mode == LineSelectMode::Vertical) { + title = QString("线上点坐标 - 线号: %1 (共 %2 个点)") + .arg(lineInfo.lineIndex) + .arg(m_currentLinePoints.size()); + } else { + title = QString("线上点坐标 - 索引号: %1 (共 %2 个点)") + .arg(lineInfo.pointIndex) + .arg(m_currentLinePoints.size()); + } + m_linePointsDialog->setWindowTitle(title); + + // 更新表格 + m_linePointsTable->setRowCount(m_currentLinePoints.size()); + + // 斑马线颜色 + QColor evenColor(245, 245, 245); // 浅灰色 + QColor oddColor(255, 255, 255); // 白色 + + for (int i = 0; i < m_currentLinePoints.size(); ++i) { + const QVector3D& pt = m_currentLinePoints[i]; + QColor rowColor = (i % 2 == 0) ? evenColor : oddColor; + + // 序号 + QTableWidgetItem* indexItem = new QTableWidgetItem(QString::number(i)); + indexItem->setTextAlignment(Qt::AlignCenter); + indexItem->setBackground(rowColor); + indexItem->setFlags(indexItem->flags() & ~Qt::ItemIsEditable); + m_linePointsTable->setItem(i, 0, indexItem); + + // X + QTableWidgetItem* xItem = new QTableWidgetItem(QString::number(pt.x(), 'f', 3)); + xItem->setTextAlignment(Qt::AlignCenter); + xItem->setBackground(rowColor); + xItem->setFlags(xItem->flags() & ~Qt::ItemIsEditable); + m_linePointsTable->setItem(i, 1, xItem); + + // Y + QTableWidgetItem* yItem = new QTableWidgetItem(QString::number(pt.y(), 'f', 3)); + yItem->setTextAlignment(Qt::AlignCenter); + yItem->setBackground(rowColor); + yItem->setFlags(yItem->flags() & ~Qt::ItemIsEditable); + m_linePointsTable->setItem(i, 2, yItem); + + // Z + QTableWidgetItem* zItem = new QTableWidgetItem(QString::number(pt.z(), 'f', 3)); + zItem->setTextAlignment(Qt::AlignCenter); + zItem->setBackground(rowColor); + zItem->setFlags(zItem->flags() & ~Qt::ItemIsEditable); + m_linePointsTable->setItem(i, 3, zItem); + } +} + +void CloudViewMainWindow::onShowLinePoints() +{ + SelectedLineInfo lineInfo = m_glWidget->getSelectedLine(); + if (!lineInfo.valid) { + QMessageBox::warning(this, "提示", "请先选择一条线"); + return; + } + + // 如果对话框已存在，刷新内容并显示 + if (m_linePointsDialog) { + updateLinePointsDialog(); + m_linePointsDialog->raise(); + m_linePointsDialog->activateWindow(); + return; + } + + // 创建对话框 + m_linePointsDialog = new QDialog(this); + m_linePointsDialog->resize(450, 500); + m_linePointsDialog->setAttribute(Qt::WA_DeleteOnClose); + + // 对话框关闭时清理指针 + connect(m_linePointsDialog, &QDialog::destroyed, this, [this]() { + m_linePointsDialog = nullptr; + m_linePointsTable = nullptr; + m_currentLinePoints.clear(); + m_glWidget->clearListHighlightPoint(); + }); + + QVBoxLayout* layout = new QVBoxLayout(m_linePointsDialog); + + // 提示标签 + QLabel* lblTip = new QLabel("点击行在3D视图中高亮显示", m_linePointsDialog); + lblTip->setStyleSheet("color: gray; font-size: 10px;"); + layout->addWidget(lblTip); + + // 创建表格控件 + m_linePointsTable = new QTableWidget(m_linePointsDialog); + m_linePointsTable->setColumnCount(4); + m_linePointsTable->setHorizontalHeaderLabels({"序号", "X", "Y", "Z"}); + m_linePointsTable->setFont(QFont("Consolas", 9)); + m_linePointsTable->setSelectionBehavior(QAbstractItemView::SelectRows); + m_linePointsTable->setSelectionMode(QAbstractItemView::SingleSelection); + m_linePointsTable->verticalHeader()->setVisible(false); + + // 设置列宽 + m_linePointsTable->setColumnWidth(0, 60); // 序号 + m_linePointsTable->setColumnWidth(1, 110); // X + m_linePointsTable->setColumnWidth(2, 110); // Y + m_linePointsTable->setColumnWidth(3, 110); // Z + + // 表头样式 + m_linePointsTable->horizontalHeader()->setStretchLastSection(true); + m_linePointsTable->horizontalHeader()->setDefaultAlignment(Qt::AlignCenter); + + connect(m_linePointsTable, &QTableWidget::cellClicked, + this, &CloudViewMainWindow::onLinePointTableClicked); + layout->addWidget(m_linePointsTable); + + // 关闭按钮 + QPushButton* btnClose = new QPushButton("关闭", m_linePointsDialog); + connect(btnClose, &QPushButton::clicked, m_linePointsDialog, &QDialog::close); + layout->addWidget(btnClose); + + // 填充数据 + updateLinePointsDialog(); + + m_linePointsDialog->show(); +} + +void CloudViewMainWindow::onLinePointTableClicked(int row, int column) +{ + Q_UNUSED(column); + + if (row >= 0 && row < m_currentLinePoints.size()) { + const QVector3D& pt = m_currentLinePoints[row]; + m_glWidget->setListHighlightPoint(pt); + + // 在状态栏显示选中点信息 + statusBar()->showMessage(QString("列表选中点 %1: (%2, %3, %4)") + .arg(row) + .arg(pt.x(), 0, 'f', 3) + .arg(pt.y(), 0, 'f', 3) + .arg(pt.z(), 0, 'f', 3)); + } +} + +void CloudViewMainWindow::onShowPose1() +{ + auto selectedPoints = m_glWidget->getSelectedPoints(); + if (selectedPoints.isEmpty() || !selectedPoints[0].valid) { + QMessageBox::warning(this, "提示", "请先选择点1（Ctrl+左键点击点云）"); + return; + } + + const auto& point = selectedPoints[0]; + + // 读取姿态参数 + bool ok = true; + float rx = m_editRx1->text().toFloat(&ok); + if (!ok) { + QMessageBox::warning(this, "错误", "点1 RX 值无效"); + return; + } + + float ry = m_editRy1->text().toFloat(&ok); + if (!ok) { + QMessageBox::warning(this, "错误", "点1 RY 值无效"); + return; + } + + float rz = m_editRz1->text().toFloat(&ok); + if (!ok) { + QMessageBox::warning(this, "错误", "点1 RZ 值无效"); + return; + } + + // 固定大小为10 + float scale = 10.0f; + + // 清除之前的姿态点 + m_glWidget->clearPosePoints(); + + // 创建点1的姿态点 + PosePoint pose1(point.x, point.y, point.z, rx, ry, rz, scale); + QVector poses; + poses.append(pose1); + + // 如果点2也存在，添加点2的姿态 + if (selectedPoints.size() >= 2 && selectedPoints[1].valid) { + const auto& point2 = selectedPoints[1]; + float rx2 = m_editRx2->text().toFloat(&ok); + float ry2 = m_editRy2->text().toFloat(&ok); + float rz2 = m_editRz2->text().toFloat(&ok); + if (ok) { + PosePoint pose2(point2.x, point2.y, point2.z, rx2, ry2, rz2, scale); + poses.append(pose2); + } + } + + // 添加到显示 + m_glWidget->addPosePoints(poses); + + statusBar()->showMessage(QString("已显示点1姿态 (%.3f, %.3f, %.3f) 旋转(%.1f°, %.1f°, %.1f°)") + .arg(point.x).arg(point.y).arg(point.z) + .arg(rx).arg(ry).arg(rz)); + + LOG_INFO("[CloudView] Show pose1 at (%.3f, %.3f, %.3f) with rotation (%.1f, %.1f, %.1f)\n", + point.x, point.y, point.z, rx, ry, rz); +} + +void CloudViewMainWindow::onShowPose2() +{ + auto selectedPoints = m_glWidget->getSelectedPoints(); + if (selectedPoints.size() < 2 || !selectedPoints[1].valid) { + QMessageBox::warning(this, "提示", "请先选择点2（启用测距后，Ctrl+左键点击第二个点）"); + return; + } + + const auto& point = selectedPoints[1]; + + // 读取姿态参数 + bool ok = true; + float rx = m_editRx2->text().toFloat(&ok); + if (!ok) { + QMessageBox::warning(this, "错误", "点2 RX 值无效"); + return; + } + + float ry = m_editRy2->text().toFloat(&ok); + if (!ok) { + QMessageBox::warning(this, "错误", "点2 RY 值无效"); + return; + } + + float rz = m_editRz2->text().toFloat(&ok); + if (!ok) { + QMessageBox::warning(this, "错误", "点2 RZ 值无效"); + return; + } + + // 固定大小为10 + float scale = 10.0f; + + // 清除之前的姿态点 + m_glWidget->clearPosePoints(); + + // 创建点2的姿态点 + PosePoint pose2(point.x, point.y, point.z, rx, ry, rz, scale); + QVector poses; + + // 如果点1也存在，添加点1的姿态 + if (selectedPoints[0].valid) { + const auto& point1 = selectedPoints[0]; + float rx1 = m_editRx1->text().toFloat(&ok); + float ry1 = m_editRy1->text().toFloat(&ok); + float rz1 = m_editRz1->text().toFloat(&ok); + if (ok) { + PosePoint pose1(point1.x, point1.y, point1.z, rx1, ry1, rz1, scale); + poses.append(pose1); + } + } + + poses.append(pose2); + + // 添加到显示 + m_glWidget->addPosePoints(poses); + + statusBar()->showMessage(QString("已显示点2姿态 (%.3f, %.3f, %.3f) 旋转(%.1f°, %.1f°, %.1f°)") + .arg(point.x).arg(point.y).arg(point.z) + .arg(rx).arg(ry).arg(rz)); + + LOG_INFO("[CloudView] Show pose2 at (%.3f, %.3f, %.3f) with rotation (%.1f, %.1f, %.1f)\n", + point.x, point.y, point.z, rx, ry, rz); +} + +void CloudViewMainWindow::onShowInputLine() +{ + // 读取点1坐标 + bool ok = true; + float x1 = m_editLineX1->text().toFloat(&ok); + if (!ok) { + QMessageBox::warning(this, "错误", "点1 X 值无效"); + return; + } + + float y1 = m_editLineY1->text().toFloat(&ok); + if (!ok) { + QMessageBox::warning(this, "错误", "点1 Y 值无效"); + return; + } + + float z1 = m_editLineZ1->text().toFloat(&ok); + if (!ok) { + QMessageBox::warning(this, "错误", "点1 Z 值无效"); + return; + } + + // 读取点2坐标 + float x2 = m_editLineX2->text().toFloat(&ok); + if (!ok) { + QMessageBox::warning(this, "错误", "点2 X 值无效"); + return; + } + + float y2 = m_editLineY2->text().toFloat(&ok); + if (!ok) { + QMessageBox::warning(this, "错误", "点2 Y 值无效"); + return; + } + + float z2 = m_editLineZ2->text().toFloat(&ok); + if (!ok) { + QMessageBox::warning(this, "错误", "点2 Z 值无效"); + return; + } + + // 清除之前的线段 + m_glWidget->clearLineSegments(); + + // 创建线段（红色） + LineSegment segment(x1, y1, z1, x2, y2, z2, 1.0f, 0.0f, 0.0f); + QVector segments; + segments.append(segment); + + // 添加到显示 + m_glWidget->addLineSegments(segments); + + // 计算距离 + float dx = x2 - x1; + float dy = y2 - y1; + float dz = z2 - z1; + float distance = std::sqrt(dx * dx + dy * dy + dz * dz); + + statusBar()->showMessage(QString("已显示线段 (%1,%2,%3) → (%4,%5,%6) 长度: %7") + .arg(x1).arg(y1).arg(z1) + .arg(x2).arg(y2).arg(z2) + .arg(distance)); + + LOG_INFO("[CloudView] Show input line from (%.3f, %.3f, %.3f) to (%.3f, %.3f, %.3f) length=%.3f\n", + x1, y1, z1, x2, y2, z2, distance); +} + +void CloudViewMainWindow::onClearInputLine() +{ + m_glWidget->clearLineSegments(); + statusBar()->showMessage("已清除输入的线段"); +} + +QWidget* CloudViewMainWindow::createTransformPage() +{ + QWidget* page = new QWidget(this); + QVBoxLayout* layout = new QVBoxLayout(page); + layout->setContentsMargins(0, 5, 0, 0); + + QGroupBox* group = new QGroupBox("矩阵变换", page); + group->setMaximumWidth(400); + QVBoxLayout* groupLayout = new QVBoxLayout(group); + + // 操作说明 + QLabel* lblTip = new QLabel("输入或从文件加载 4x4 变换矩阵，应用到所有点云", group); + lblTip->setWordWrap(true); + lblTip->setStyleSheet("color: gray; font-size: 10px;"); + groupLayout->addWidget(lblTip); + + // 矩阵编辑区域 + QLabel* lblMatrix = new QLabel("变换矩阵 (4x4):", group); + lblMatrix->setStyleSheet("font-weight: bold;"); + groupLayout->addWidget(lblMatrix); + + m_matrixEdit = new QTextEdit(group); + m_matrixEdit->setFont(QFont("Consolas", 10)); + m_matrixEdit->setMinimumHeight(100); + m_matrixEdit->setMaximumHeight(120); + // 初始化为单位矩阵 + m_matrixEdit->setPlainText( + "1.0 0.0 0.0 0.0\n" + "0.0 1.0 0.0 0.0\n" + "0.0 0.0 1.0 0.0\n" + "0.0 0.0 0.0 1.0" + ); + groupLayout->addWidget(m_matrixEdit); + + // 从文件加载按钮 + m_btnLoadMatrix = new QPushButton("从文件加载矩阵", group); + m_btnLoadMatrix->setMinimumHeight(30); + connect(m_btnLoadMatrix, &QPushButton::clicked, this, &CloudViewMainWindow::onLoadMatrix); + groupLayout->addWidget(m_btnLoadMatrix); + + // 按钮行 + QHBoxLayout* btnLayout = new QHBoxLayout(); + m_btnApplyMatrix = new QPushButton("应用变换", group); + m_btnApplyMatrix->setMinimumHeight(30); + m_btnApplyMatrix->setStyleSheet("QPushButton { background-color: #4CAF50; color: white; font-weight: bold; }" + "QPushButton:hover { background-color: #45a049; }"); + connect(m_btnApplyMatrix, &QPushButton::clicked, this, &CloudViewMainWindow::onApplyMatrix); + btnLayout->addWidget(m_btnApplyMatrix); + + m_btnResetMatrix = new QPushButton("重置矩阵", group); + connect(m_btnResetMatrix, &QPushButton::clicked, this, &CloudViewMainWindow::onResetMatrix); + btnLayout->addWidget(m_btnResetMatrix); + groupLayout->addLayout(btnLayout); + + // 文件格式说明 + QLabel* lblFormat = new QLabel( + "矩阵文件格式：4行，每行4个数值\n" + "分隔符：空格/Tab/逗号\n" + "#开头的行为注释", group); + lblFormat->setWordWrap(true); + lblFormat->setStyleSheet("color: gray; font-size: 9px;"); + groupLayout->addWidget(lblFormat); + + layout->addWidget(group); + layout->addStretch(); + return page; +} + +void CloudViewMainWindow::onLoadMatrix() +{ + QString fileName = QFileDialog::getOpenFileName( + this, + "打开矩阵文件", + QString(), + "文本文件 (*.txt);;所有文件 (*.*)" + ); + + if (fileName.isEmpty()) { + return; + } + + QFile file(fileName); + if (!file.open(QIODevice::ReadOnly | QIODevice::Text)) { + QMessageBox::critical(this, "错误", QString("无法打开文件: %1").arg(fileName)); + return; + } + + QTextStream in(&file); + QVector> rows; + + while (!in.atEnd()) { + QString line = in.readLine().trimmed(); + // 跳过空行和注释 + if (line.isEmpty() || line.startsWith('#')) { + continue; + } + + // 将逗号替换为空格，统一分隔符 + line.replace(',', ' '); + line.replace('\t', ' '); + QStringList parts = line.split(' ', QString::SkipEmptyParts); + + QVector row; + bool ok = true; + for (const QString& part : parts) { + float val = part.toFloat(&ok); + if (!ok) break; + row.append(val); + } + + if (!ok || row.size() != 4) { + QMessageBox::warning(this, "格式错误", + QString("第 %1 行格式无效，需要4个数值").arg(rows.size() + 1)); + file.close(); + return; + } + rows.append(row); + + if (rows.size() == 4) { + break; + } + } + file.close(); + + if (rows.size() != 4) { + QMessageBox::warning(this, "格式错误", + QString("矩阵需要4行数据，当前只有 %1 行").arg(rows.size())); + return; + } + + // 将矩阵显示到编辑区域 + QString matrixText; + for (int r = 0; r < 4; ++r) { + QStringList vals; + for (int c = 0; c < 4; ++c) { + vals.append(QString::number(static_cast(rows[r][c]), 'f', 6)); + } + matrixText += vals.join(" "); + if (r < 3) matrixText += "\n"; + } + m_matrixEdit->setPlainText(matrixText); + + statusBar()->showMessage(QString("已从 %1 加载矩阵").arg(QFileInfo(fileName).fileName())); + LOG_INFO("[CloudView] Loaded matrix from %s\n", fileName.toStdString().c_str()); +} + +void CloudViewMainWindow::onApplyMatrix() +{ + if (m_glWidget->getCloudCount() == 0) { + QMessageBox::warning(this, "提示", "请先加载点云"); + return; + } + + // 解析编辑区域中的矩阵 + QString text = m_matrixEdit->toPlainText().trimmed(); + QStringList lines = text.split('\n', QString::SkipEmptyParts); + + QVector> rows; + for (const QString& line : lines) { + QString cleaned = line.trimmed(); + if (cleaned.isEmpty() || cleaned.startsWith('#')) { + continue; + } + cleaned.replace(',', ' '); + cleaned.replace('\t', ' '); + QStringList parts = cleaned.split(' ', QString::SkipEmptyParts); + + QVector row; + bool ok = true; + for (const QString& part : parts) { + float val = part.toFloat(&ok); + if (!ok) break; + row.append(val); + } + + if (!ok || row.size() != 4) { + QMessageBox::warning(this, "格式错误", "矩阵格式无效，需要4行4列数值"); + return; + } + rows.append(row); + } + + if (rows.size() != 4) { + QMessageBox::warning(this, "格式错误", + QString("矩阵需要4行数据，当前 %1 行").arg(rows.size())); + return; + } + + // 构造 QMatrix4x4（按行优先存储） + float values[16]; + for (int r = 0; r < 4; ++r) { + for (int c = 0; c < 4; ++c) { + values[r * 4 + c] = rows[r][c]; + } + } + QMatrix4x4 matrix(values); + + // 检查是否为单位矩阵 + if (matrix.isIdentity()) { + QMessageBox::information(this, "提示", "当前矩阵为单位矩阵，无需变换"); + return; + } + + // 应用变换 + m_glWidget->transformAllClouds(matrix); + + statusBar()->showMessage("已应用矩阵变换到所有点云"); + LOG_INFO("[CloudView] Applied matrix transform to all point clouds\n"); +} + +void CloudViewMainWindow::onResetMatrix() +{ + m_matrixEdit->setPlainText( + "1.0 0.0 0.0 0.0\n" + "0.0 1.0 0.0 0.0\n" + "0.0 0.0 1.0 0.0\n" + "0.0 0.0 0.0 1.0" + ); + statusBar()->showMessage("矩阵已重置为单位矩阵"); +} + +void CloudViewMainWindow::onEulerOrderChanged(int index) +{ + if (!m_glWidget) { + return; + } + + EulerRotationOrder order = static_cast(m_comboEulerOrder->itemData(index).toInt()); + m_glWidget->setEulerRotationOrder(order); + + // 如果有姿态点，刷新显示 + m_glWidget->update(); + + QString orderName = m_comboEulerOrder->currentText(); + statusBar()->showMessage(QString("欧拉角旋转顺序已切换为: %1").arg(orderName)); + LOG_INFO("[CloudView] Euler rotation order changed to: %s\n", orderName.toStdString().c_str()); +} + +void CloudViewMainWindow::onViewAnglesChanged(float rotX, float rotY, float rotZ) +{ + // 更新显示的角度值 + m_editRotX->setText(QString::number(rotX, 'f', 1)); + m_editRotY->setText(QString::number(rotY, 'f', 1)); + m_editRotZ->setText(QString::number(rotZ, 'f', 1)); +} + diff --git a/CloudView/Src/PointCloudConverter.cpp b/CloudView/Src/PointCloudConverter.cpp new file mode 100644 index 0000000..9c14d68 --- /dev/null +++ b/CloudView/Src/PointCloudConverter.cpp @@ -0,0 +1,561 @@ +#include "PointCloudConverter.h" +#include "LaserDataLoader.h" +#include "VZNL_Types.h" +#include "VrLog.h" + +#include +#include +#include +#include +#include +#include + +PointCloudConverter::PointCloudConverter() + : m_loadedPointCount(0) + , m_loadedLineCount(0) + , m_lastLoadHadColor(false) +{ +} + +PointCloudConverter::~PointCloudConverter() +{ +} + +std::string PointCloudConverter::getFileExtension(const std::string& fileName) +{ + size_t pos = fileName.rfind('.'); + if (pos == std::string::npos) { + return ""; + } + std::string ext = fileName.substr(pos + 1); + std::transform(ext.begin(), ext.end(), ext.begin(), + [](unsigned char c) { return std::tolower(c); }); + return ext; +} + +int PointCloudConverter::loadFromTxt(const std::string& fileName, PointCloudXYZ& cloud) +{ + LaserDataLoader loader; + + // 使用 CloudUtils 加载数据 + std::vector> laserLines; + int lineNum = 0; + float scanSpeed = 0.0f; + int maxTimeStamp = 0; + int clockPerSecond = 0; + + int result = loader.LoadLaserScanData(fileName, laserLines, lineNum, scanSpeed, maxTimeStamp, clockPerSecond); + if (result != 0) { + m_lastError = "加载文件失败: " + loader.GetLastError(); + return result; + } + + LOG_INFO("[CloudView] LoadLaserScanData success, laserLines size: %zu, lineNum: %d\n", + laserLines.size(), lineNum); + + // 转换为 SVzNL3DPosition 格式 + std::vector> scanLines; + result = loader.ConvertToSVzNL3DPosition(laserLines, scanLines); + if (result != 0) { + m_lastError = "转换数据失败"; + loader.FreeLaserScanData(laserLines); + return result; + } + + LOG_INFO("[CloudView] ConvertToSVzNL3DPosition success, scanLines size: %zu\n", scanLines.size()); + + // 转换为自定义点云格式，保留线索引（保留所有点包括0,0,0用于旋转） + cloud.clear(); + size_t totalCount = 0; + int lineIndex = 0; + + for (const auto& line : scanLines) { + for (const auto& pos : line) { + totalCount++; + Point3D point; + point.x = static_cast(pos.pt3D.x); + point.y = static_cast(pos.pt3D.y); + point.z = static_cast(pos.pt3D.z); + cloud.push_back(point, lineIndex); + } + lineIndex++; + } + + LOG_INFO("[CloudView] Total points: %zu, Lines: %d\n", totalCount, lineIndex); + + loader.FreeLaserScanData(laserLines); + m_loadedPointCount = totalCount; + m_loadedLineCount = lineIndex; + return 0; +} + +int PointCloudConverter::loadFromTxt(const std::string& fileName, PointCloudXYZRGB& cloud) +{ + LaserDataLoader loader; + + // 使用 CloudUtils 加载数据 + std::vector> laserLines; + int lineNum = 0; + float scanSpeed = 0.0f; + int maxTimeStamp = 0; + int clockPerSecond = 0; + + int result = loader.LoadLaserScanData(fileName, laserLines, lineNum, scanSpeed, maxTimeStamp, clockPerSecond); + if (result != 0) { + m_lastError = "加载文件失败，loasreuslt: " + std::to_string(result); + return result; + } + + LOG_INFO("[CloudView] LoadLaserScanData(XYZRGB) success, laserLines size: %zu, lineNum: %d\n", + laserLines.size(), lineNum); + + // 检查数据类型是否包含 RGBA + bool hasRGBA = false; + for (const auto& linePair : laserLines) { + if (linePair.first == keResultDataType_PointXYZRGBA) { + hasRGBA = true; + break; + } + } + + cloud.clear(); + size_t totalCount = 0; + int lineIndex = 0; + + if (hasRGBA) { + // RGBA 路径：使用 ConvertToSVzNLXYZRGBDLaserLine 转换 + std::vector rgbdData; + result = loader.ConvertToSVzNLXYZRGBDLaserLine(laserLines, rgbdData); + if (result != 0) { + m_lastError = "转换RGBA数据失败"; + loader.FreeLaserScanData(laserLines); + return result; + } + + LOG_INFO("[CloudView] ConvertToSVzNLXYZRGBDLaserLine success, rgbdData size: %zu\n", rgbdData.size()); + + for (const auto& line : rgbdData) { + for (int i = 0; i < line.nPointCnt; ++i) { + const SVzNLPointXYZRGBA& pt = line.p3DPoint[i]; + // 解包颜色：nRGB 格式为 (B << 16) | (G << 8) | R + uint8_t r = static_cast(pt.nRGB & 0xFF); + uint8_t g = static_cast((pt.nRGB >> 8) & 0xFF); + uint8_t b = static_cast((pt.nRGB >> 16) & 0xFF); + + Point3DRGB point(pt.x, pt.y, pt.z, r, g, b); + cloud.push_back(point, lineIndex); + totalCount++; + } + lineIndex++; + } + + loader.FreeConvertedData(rgbdData); + m_lastLoadHadColor = true; + } else { + // 非 RGBA 路径：回退到 SVzNL3DPosition + 白色 + std::vector> scanLines; + result = loader.ConvertToSVzNL3DPosition(laserLines, scanLines); + if (result != 0) { + m_lastError = "转换数据失败"; + loader.FreeLaserScanData(laserLines); + return result; + } + + LOG_INFO("[CloudView] ConvertToSVzNL3DPosition success, scanLines size: %zu\n", scanLines.size()); + + for (const auto& line : scanLines) { + for (const auto& pos : line) { + Point3DRGB point( + static_cast(pos.pt3D.x), + static_cast(pos.pt3D.y), + static_cast(pos.pt3D.z), + 255, 255, 255); + cloud.push_back(point, lineIndex); + totalCount++; + } + lineIndex++; + } + + m_lastLoadHadColor = false; + } + + LOG_INFO("[CloudView] Total points(XYZRGB): %zu, Lines: %d, hasRGBA: %d\n", totalCount, lineIndex, hasRGBA); + + loader.FreeLaserScanData(laserLines); + m_loadedPointCount = totalCount; + m_loadedLineCount = lineIndex; + return 0; +} + +bool PointCloudConverter::parsePcdHeader(std::ifstream& file, PcdHeader& header) +{ + std::string line; + while (std::getline(file, line)) { + if (line.empty() || line[0] == '#') { + continue; + } + + std::istringstream iss(line); + std::string key; + iss >> key; + + if (key == "VERSION") { + // 忽略版本 + } else if (key == "FIELDS") { + std::string field; + while (iss >> field) { + header.fields.push_back(field); + if (field == "rgb" || field == "rgba") { + header.hasRgb = true; + } + } + } else if (key == "SIZE") { + int size; + while (iss >> size) { + header.fieldSizes.push_back(size); + header.pointSize += size; + } + } else if (key == "TYPE") { + char type; + while (iss >> type) { + header.fieldTypes.push_back(type); + } + } else if (key == "COUNT") { + // 忽略 COUNT + } else if (key == "WIDTH") { + iss >> header.width; + } else if (key == "HEIGHT") { + iss >> header.height; + } else if (key == "VIEWPOINT") { + // 忽略 VIEWPOINT + } else if (key == "POINTS") { + iss >> header.points; + } else if (key == "DATA") { + std::string dataType; + iss >> dataType; + header.isBinary = (dataType == "binary" || dataType == "binary_compressed"); + return true; // 头部解析完成 + } + } + return false; +} + +int PointCloudConverter::loadFromPcd(const std::string& fileName, PointCloudXYZ& cloud) +{ + std::ifstream file(fileName, std::ios::binary); + if (!file.is_open()) { + m_lastError = "无法打开文件: " + fileName; + return -1; + } + + PcdHeader header; + if (!parsePcdHeader(file, header)) { + m_lastError = "无法解析 PCD 文件头"; + return -1; + } + + int numPoints = header.points > 0 ? header.points : header.width * header.height; + LOG_INFO("[CloudView] PCD header: points=%d, width=%d, height=%d, isBinary=%d\n", + numPoints, header.width, header.height, header.isBinary); + + cloud.clear(); + cloud.reserve(numPoints); + + // 查找 x, y, z 字段的索引 + int xIdx = -1, yIdx = -1, zIdx = -1; + for (size_t i = 0; i < header.fields.size(); ++i) { + if (header.fields[i] == "x") xIdx = static_cast(i); + else if (header.fields[i] == "y") yIdx = static_cast(i); + else if (header.fields[i] == "z") zIdx = static_cast(i); + } + + if (xIdx < 0 || yIdx < 0 || zIdx < 0) { + m_lastError = "PCD 文件缺少 x, y, z 字段"; + return -1; + } + + if (header.isBinary) { + // 二进制格式 + std::vector buffer(header.pointSize); + for (int i = 0; i < numPoints; ++i) { + file.read(buffer.data(), header.pointSize); + if (!file) break; + + Point3D pt; + int offset = 0; + for (size_t j = 0; j < header.fields.size(); ++j) { + if (j == static_cast(xIdx)) { + memcpy(&pt.x, buffer.data() + offset, sizeof(float)); + } else if (j == static_cast(yIdx)) { + memcpy(&pt.y, buffer.data() + offset, sizeof(float)); + } else if (j == static_cast(zIdx)) { + memcpy(&pt.z, buffer.data() + offset, sizeof(float)); + } + offset += header.fieldSizes[j]; + } + + if (std::isfinite(pt.x) && std::isfinite(pt.y) && std::isfinite(pt.z)) { + cloud.push_back(pt); + } + } + } else { + // ASCII 格式 + std::string line; + while (std::getline(file, line) && cloud.size() < static_cast(numPoints)) { + std::istringstream iss(line); + std::vector values; + float val; + while (iss >> val) { + values.push_back(val); + } + + if (values.size() >= 3 && + static_cast(xIdx) < values.size() && + static_cast(yIdx) < values.size() && + static_cast(zIdx) < values.size()) { + Point3D pt; + pt.x = values[xIdx]; + pt.y = values[yIdx]; + pt.z = values[zIdx]; + + if (std::isfinite(pt.x) && std::isfinite(pt.y) && std::isfinite(pt.z)) { + cloud.push_back(pt); + } + } + } + } + + LOG_INFO("[CloudView] Loaded %zu points from PCD\n", cloud.size()); + m_loadedPointCount = cloud.size(); + m_loadedLineCount = 0; // PCD 文件没有线信息 + return 0; +} + +int PointCloudConverter::loadFromPcd(const std::string& fileName, PointCloudXYZRGB& cloud) +{ + std::ifstream file(fileName, std::ios::binary); + if (!file.is_open()) { + m_lastError = "无法打开文件: " + fileName; + return -1; + } + + PcdHeader header; + if (!parsePcdHeader(file, header)) { + m_lastError = "无法解析 PCD 文件头"; + return -1; + } + + int numPoints = header.points > 0 ? header.points : header.width * header.height; + cloud.clear(); + cloud.reserve(numPoints); + + // 查找字段索引 + int xIdx = -1, yIdx = -1, zIdx = -1, rgbIdx = -1; + for (size_t i = 0; i < header.fields.size(); ++i) { + if (header.fields[i] == "x") xIdx = static_cast(i); + else if (header.fields[i] == "y") yIdx = static_cast(i); + else if (header.fields[i] == "z") zIdx = static_cast(i); + else if (header.fields[i] == "rgb" || header.fields[i] == "rgba") rgbIdx = static_cast(i); + } + + if (xIdx < 0 || yIdx < 0 || zIdx < 0) { + m_lastError = "PCD 文件缺少 x, y, z 字段"; + return -1; + } + + if (header.isBinary) { + std::vector buffer(header.pointSize); + for (int i = 0; i < numPoints; ++i) { + file.read(buffer.data(), header.pointSize); + if (!file) break; + + Point3DRGB pt; + int offset = 0; + for (size_t j = 0; j < header.fields.size(); ++j) { + if (j == static_cast(xIdx)) { + memcpy(&pt.x, buffer.data() + offset, sizeof(float)); + } else if (j == static_cast(yIdx)) { + memcpy(&pt.y, buffer.data() + offset, sizeof(float)); + } else if (j == static_cast(zIdx)) { + memcpy(&pt.z, buffer.data() + offset, sizeof(float)); + } else if (j == static_cast(rgbIdx)) { + // RGB 通常存储为 packed float + float rgbFloat; + memcpy(&rgbFloat, buffer.data() + offset, sizeof(float)); + uint32_t rgb = *reinterpret_cast(&rgbFloat); + pt.r = (rgb >> 16) & 0xFF; + pt.g = (rgb >> 8) & 0xFF; + pt.b = rgb & 0xFF; + } + offset += header.fieldSizes[j]; + } + + if (std::isfinite(pt.x) && std::isfinite(pt.y) && std::isfinite(pt.z)) { + cloud.push_back(pt); + } + } + } else { + std::string line; + while (std::getline(file, line) && cloud.size() < static_cast(numPoints)) { + std::istringstream iss(line); + std::vector values; + float val; + while (iss >> val) { + values.push_back(val); + } + + if (values.size() >= 3 && + static_cast(xIdx) < values.size() && + static_cast(yIdx) < values.size() && + static_cast(zIdx) < values.size()) { + Point3DRGB pt; + pt.x = values[xIdx]; + pt.y = values[yIdx]; + pt.z = values[zIdx]; + + if (rgbIdx >= 0 && static_cast(rgbIdx) < values.size()) { + float rgbFloat = values[rgbIdx]; + uint32_t rgb = *reinterpret_cast(&rgbFloat); + pt.r = (rgb >> 16) & 0xFF; + pt.g = (rgb >> 8) & 0xFF; + pt.b = rgb & 0xFF; + } + + if (std::isfinite(pt.x) && std::isfinite(pt.y) && std::isfinite(pt.z)) { + cloud.push_back(pt); + } + } + } + } + + m_loadedPointCount = cloud.size(); + m_loadedLineCount = 0; // PCD 文件没有线信息 + return 0; +} + +int PointCloudConverter::loadFromFile(const std::string& fileName, PointCloudXYZ& cloud) +{ + std::string ext = getFileExtension(fileName); + + if (ext == "pcd") { + return loadFromPcd(fileName, cloud); + } else if (ext == "txt") { + return loadFromTxt(fileName, cloud); + } else { + m_lastError = "不支持的文件格式: " + ext; + return -1; + } +} + +int PointCloudConverter::loadFromFile(const std::string& fileName, PointCloudXYZRGB& cloud) +{ + std::string ext = getFileExtension(fileName); + + if (ext == "pcd") { + return loadFromPcd(fileName, cloud); + } else if (ext == "txt") { + return loadFromTxt(fileName, cloud); + } else { + m_lastError = "不支持的文件格式: " + ext; + return -1; + } +} + +int PointCloudConverter::saveToTxt(const std::string& fileName, const PointCloudXYZ& cloud, int lineNum, int linePtNum) +{ + if (cloud.empty()) { + m_lastError = "点云数据为空"; + return -1; + } + + // 转换为 std::vector> 格式 + std::vector> xyzData; + xyzData.resize(lineNum); + + for (int line = 0; line < lineNum; ++line) { + xyzData[line].resize(linePtNum); + } + + // 填充数据 + size_t ptIdx = 0; + for (int line = 0; line < lineNum; ++line) { + for (int j = 0; j < linePtNum; ++j) { + if (ptIdx < cloud.points.size()) { + xyzData[line][j].pt3D.x = cloud.points[ptIdx].x; + xyzData[line][j].pt3D.y = cloud.points[ptIdx].y; + xyzData[line][j].pt3D.z = cloud.points[ptIdx].z; + xyzData[line][j].nPointIdx = j; + ptIdx++; + } else { + // 填充零点 + xyzData[line][j].pt3D.x = 0; + xyzData[line][j].pt3D.y = 0; + xyzData[line][j].pt3D.z = 0; + xyzData[line][j].nPointIdx = j; + } + } + } + + // 使用 LaserDataLoader 保存 + LaserDataLoader loader; + int result = loader.DebugSaveLaser(fileName, xyzData); + if (result != 0) { + m_lastError = "保存文件失败: " + loader.GetLastError(); + return result; + } + + LOG_INFO("[CloudView] Saved %zu points to %s (lineNum=%d, linePtNum=%d)\n", + cloud.points.size(), fileName.c_str(), lineNum, linePtNum); + return 0; +} + +int PointCloudConverter::rotateCloud(const PointCloudXYZ& cloud, PointCloudXYZ& rotatedCloud, + int lineNum, int linePtNum, int& newLineNum, int& newLinePtNum) +{ + if (cloud.empty()) { + m_lastError = "无效的点云数据"; + return -1; + } + + if (lineNum <= 0 || linePtNum <= 0) { + m_lastError = "无效的线信息"; + return -1; + } + + // 检查点数是否匹配 + size_t expectedPoints = static_cast(lineNum) * static_cast(linePtNum); + if (cloud.points.size() != expectedPoints) { + m_lastError = "点云数据与线信息不匹配，无法旋转"; + return -1; + } + + // 矩阵转置：原来的行列互换 + // 原来: lineNum 条线，每条线 linePtNum 个点 + // 转置后: linePtNum 条线，每条线 lineNum 个点 + newLineNum = linePtNum; + newLinePtNum = lineNum; + + rotatedCloud.clear(); + rotatedCloud.reserve(cloud.points.size()); + + // 转置操作： + // 原来第 line 条线的第 col 个点 -> 新的第 col 条线的第 line 个点 + // 原索引: line * linePtNum + col + // 新索引: col * lineNum + line + for (int newLine = 0; newLine < newLineNum; ++newLine) { + for (int newCol = 0; newCol < newLinePtNum; ++newCol) { + // newLine 对应原来的 col（点在线内的位置） + // newCol 对应原来的 line（线号） + int oldLine = newCol; + int oldCol = newLine; + size_t oldIdx = static_cast(oldLine) * static_cast(linePtNum) + static_cast(oldCol); + + const Point3D& pt = cloud.points[oldIdx]; + rotatedCloud.push_back(pt, newLine); + } + } + + LOG_INFO("[CloudView] Rotated cloud: %zu points, %d lines -> %d lines\n", + rotatedCloud.points.size(), lineNum, newLineNum); + return 0; +} diff --git a/CloudView/Src/PointCloudGLWidget.cpp b/CloudView/Src/PointCloudGLWidget.cpp new file mode 100644 index 0000000..410ab60 --- /dev/null +++ b/CloudView/Src/PointCloudGLWidget.cpp @@ -0,0 +1,1276 @@ +#include "PointCloudGLWidget.h" +#include +#include +#include +#include "VrLog.h" + +// OpenGL/GLU 头文件 +#ifdef _WIN32 +#include +#include +#include +#else +#include +#include +#endif + +PointCloudGLWidget::PointCloudGLWidget(QWidget* parent) + : QOpenGLWidget(parent) + , m_distance(100.0f) + , m_rotationX(0.0f) + , m_rotationY(0.0f) + , m_rotationZ(0.0f) + , m_center(0, 0, 0) + , m_pan(0, 0, 0) + , m_minBound(-50, -50, -50) + , m_maxBound(50, 50, 50) + , m_leftButtonPressed(false) + , m_rightButtonPressed(false) + , m_middleButtonPressed(false) + , m_currentColor(PointCloudColor::White) + , m_pointSize(1.0f) + , m_lineSelectMode(LineSelectMode::Vertical) + , m_eulerRotationOrder(EulerRotationOrder::ZYX) + , m_measureDistanceEnabled(false) + , m_hasListHighlightPoint(false) + , m_colorIndex(0) +{ + setFocusPolicy(Qt::StrongFocus); + setMouseTracking(true); + + // 确保 m_model 是单位矩阵 + m_model.setToIdentity(); +} + +PointCloudGLWidget::~PointCloudGLWidget() +{ + // 在 GL 上下文中释放所有 VBO + makeCurrent(); + for (auto& cloudData : m_pointClouds) { + releaseVBO(cloudData); + } + doneCurrent(); +} + +void PointCloudGLWidget::uploadToVBO(PointCloudData& data) +{ + // 先释放旧的 VBO + releaseVBO(data); + + if (data.vertices.empty()) { + return; + } + + // 创建并上传顶点 VBO + data.vertexBuffer.create(); + data.vertexBuffer.bind(); + data.vertexBuffer.setUsagePattern(QOpenGLBuffer::StaticDraw); + data.vertexBuffer.allocate(data.vertices.data(), + static_cast(data.vertices.size() * sizeof(float))); + data.vertexBuffer.release(); + + // 如果有颜色数据，创建并上传颜色 VBO + if (data.hasColor && !data.colors.empty()) { + data.colorBuffer.create(); + data.colorBuffer.bind(); + data.colorBuffer.setUsagePattern(QOpenGLBuffer::StaticDraw); + data.colorBuffer.allocate(data.colors.data(), + static_cast(data.colors.size() * sizeof(float))); + data.colorBuffer.release(); + } + + data.vboCreated = true; +} + +void PointCloudGLWidget::releaseVBO(PointCloudData& data) +{ + if (!data.vboCreated) { + return; + } + + if (data.vertexBuffer.isCreated()) { + data.vertexBuffer.destroy(); + } + if (data.colorBuffer.isCreated()) { + data.colorBuffer.destroy(); + } + + data.vboCreated = false; +} + +void PointCloudGLWidget::initializeGL() +{ + initializeOpenGLFunctions(); + + LOG_INFO("[CloudView] OpenGL initialized, version: %s\n", reinterpret_cast(glGetString(GL_VERSION))); + + glClearColor(0.15f, 0.15f, 0.15f, 1.0f); + glEnable(GL_DEPTH_TEST); + glEnable(GL_POINT_SMOOTH); + glHint(GL_POINT_SMOOTH_HINT, GL_NICEST); +} + +void PointCloudGLWidget::resizeGL(int w, int h) +{ + glViewport(0, 0, w, h); + + m_projection.setToIdentity(); + float aspect = static_cast(w) / static_cast(h > 0 ? h : 1); + m_projection.perspective(45.0f, aspect, 0.1f, 10000.0f); +} + +void PointCloudGLWidget::paintGL() +{ + glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT); + + m_view.setToIdentity(); + // 平移在相机空间中进行，使鼠标拖动方向与屏幕方向一致 + m_view.translate(-m_pan.x(), -m_pan.y(), -m_distance); + + // 使用轨迹球旋转方式：先Y后X后Z，这样更直观 + m_view.rotate(m_rotationY, 0, 1, 0); + m_view.rotate(m_rotationX, 1, 0, 0); + m_view.rotate(m_rotationZ, 0, 0, 1); + + m_view.translate(-m_center); + + // 调试输出：每100帧输出一次当前旋转角度 + static int frameCount = 0; + if (++frameCount % 100 == 0) { + LOG_INFO("[CloudView] Current rotation: rotX=%.1f, rotY=%.1f, rotZ=%.1f\n", + m_rotationX, m_rotationY, m_rotationZ); + } + + glMatrixMode(GL_PROJECTION); + glLoadMatrixf(m_projection.constData()); + + glMatrixMode(GL_MODELVIEW); + QMatrix4x4 modelView = m_view * m_model; + glLoadMatrixf(modelView.constData()); + + // 确保颜色数组禁用 + glDisableClientState(GL_COLOR_ARRAY); + + glPointSize(m_pointSize); + + for (size_t cloudIdx = 0; cloudIdx < m_pointClouds.size(); ++cloudIdx) { + auto& cloudData = m_pointClouds[cloudIdx]; + if (cloudData.vertices.empty()) { + continue; + } + + // 确保 VBO 已创建（延迟上传，因为 addPointCloud 可能在 GL 上下文外调用） + if (!cloudData.vboCreated) { + uploadToVBO(cloudData); + } + + glEnableClientState(GL_VERTEX_ARRAY); + + if (cloudData.vboCreated && cloudData.vertexBuffer.isCreated()) { + // 使用 VBO 渲染：数据已在 GPU 显存中，无需每帧 CPU→GPU 拷贝 + cloudData.vertexBuffer.bind(); + glVertexPointer(3, GL_FLOAT, 0, nullptr); + cloudData.vertexBuffer.release(); + } else { + // 回退到 CPU 指针（VBO 创建失败时） + glVertexPointer(3, GL_FLOAT, 0, cloudData.vertices.data()); + } + + // 如果有原始颜色且选择显示原始颜色 + if (cloudData.hasColor && !cloudData.colors.empty()) { + glEnableClientState(GL_COLOR_ARRAY); + if (cloudData.vboCreated && cloudData.colorBuffer.isCreated()) { + cloudData.colorBuffer.bind(); + glColorPointer(3, GL_FLOAT, 0, nullptr); + cloudData.colorBuffer.release(); + } else { + glColorPointer(3, GL_FLOAT, 0, cloudData.colors.data()); + } + } else { + // 使用点云自己的颜色索引 + glDisableClientState(GL_COLOR_ARRAY); + setColorByIndex(cloudData.colorIndex); + } + + glDrawArrays(GL_POINTS, 0, static_cast(cloudData.vertices.size() / 3)); + + glDisableClientState(GL_VERTEX_ARRAY); + glDisableClientState(GL_COLOR_ARRAY); + } + + drawSelectedPoints(); + drawMeasurementLine(); + drawSelectedLine(); + drawLineSegments(); + drawPosePoints(); + + // 最后绘制坐标系指示器（覆盖在所有内容之上） + drawAxis(); +} + +void PointCloudGLWidget::addPointCloud(const PointCloudXYZ& cloud, const QString& name) +{ + LOG_INFO("[CloudView] addPointCloud called, cloud size: %zu\n", cloud.size()); + + if (cloud.empty()) { + LOG_WARN("[CloudView] Cloud is empty, returning\n"); + return; + } + + PointCloudData data; + data.name = name; + data.hasColor = false; + data.hasLineInfo = !cloud.lineIndices.empty(); + data.colorIndex = m_colorIndex; // 分配颜色索引 + m_colorIndex = (m_colorIndex + 1) % COLOR_COUNT; // 轮换到下一个颜色 + data.vertices.reserve(cloud.size() * 3); + data.totalLines = 0; + data.pointsPerLine = 0; + + const float EPSILON = 1e-6f; + for (size_t i = 0; i < cloud.points.size(); ++i) { + const auto& pt = cloud.points[i]; + if (!std::isfinite(pt.x) || !std::isfinite(pt.y) || !std::isfinite(pt.z)) { + continue; + } + // 显示时过滤 (0,0,0) 点 + if (std::fabs(pt.x) < EPSILON && std::fabs(pt.y) < EPSILON && std::fabs(pt.z) < EPSILON) { + continue; + } + data.vertices.push_back(pt.x); + data.vertices.push_back(pt.y); + data.vertices.push_back(pt.z); + + // 保存原始索引 + data.originalIndices.push_back(static_cast(i)); + + // 保存线索引 + if (data.hasLineInfo && i < cloud.lineIndices.size()) { + int lineIdx = cloud.lineIndices[i]; + data.lineIndices.push_back(lineIdx); + if (lineIdx + 1 > data.totalLines) { + data.totalLines = lineIdx + 1; + } + } + } + + // 计算每线点数（假设网格化点云） + if (data.totalLines > 0) { + data.pointsPerLine = static_cast(cloud.size()) / data.totalLines; + } + + LOG_INFO("[CloudView] Valid vertices count: %zu, colorIndex: %d, totalLines: %d, pointsPerLine: %d\n", + data.vertices.size() / 3, data.colorIndex, data.totalLines, data.pointsPerLine); + + m_pointClouds.push_back(std::move(data)); + + // 上传 VBO（如果当前在 GL 上下文中） + makeCurrent(); + uploadToVBO(m_pointClouds.back()); + doneCurrent(); + + computeBoundingBox(); + LOG_INFO("[CloudView] BoundingBox min: (%.3f, %.3f, %.3f) max: (%.3f, %.3f, %.3f)\n", + m_minBound.x(), m_minBound.y(), m_minBound.z(), + m_maxBound.x(), m_maxBound.y(), m_maxBound.z()); + LOG_INFO("[CloudView] Center: (%.3f, %.3f, %.3f) Distance: %.3f\n", + m_center.x(), m_center.y(), m_center.z(), m_distance); + + resetView(); + update(); +} + +void PointCloudGLWidget::addPointCloud(const PointCloudXYZRGB& cloud, const QString& name) +{ + if (cloud.empty()) { + return; + } + + PointCloudData data; + data.name = name; + data.hasColor = true; + data.hasLineInfo = !cloud.lineIndices.empty(); + data.colorIndex = m_colorIndex; // 即使有颜色也分配索引（备用） + m_colorIndex = (m_colorIndex + 1) % COLOR_COUNT; + data.vertices.reserve(cloud.size() * 3); + data.colors.reserve(cloud.size() * 3); + data.totalLines = 0; + data.pointsPerLine = 0; + + for (size_t i = 0; i < cloud.points.size(); ++i) { + const auto& pt = cloud.points[i]; + if (!std::isfinite(pt.x) || !std::isfinite(pt.y) || !std::isfinite(pt.z)) { + continue; + } + data.vertices.push_back(pt.x); + data.vertices.push_back(pt.y); + data.vertices.push_back(pt.z); + + data.colors.push_back(pt.r / 255.0f); + data.colors.push_back(pt.g / 255.0f); + data.colors.push_back(pt.b / 255.0f); + + // 保存原始索引 + data.originalIndices.push_back(static_cast(i)); + + // 保存线索引 + if (data.hasLineInfo && i < cloud.lineIndices.size()) { + int lineIdx = cloud.lineIndices[i]; + data.lineIndices.push_back(lineIdx); + if (lineIdx + 1 > data.totalLines) { + data.totalLines = lineIdx + 1; + } + } + } + + // 计算每线点数 + if (data.totalLines > 0) { + data.pointsPerLine = static_cast(cloud.size()) / data.totalLines; + } + + m_pointClouds.push_back(std::move(data)); + + // 上传 VBO + makeCurrent(); + uploadToVBO(m_pointClouds.back()); + doneCurrent(); + + computeBoundingBox(); + resetView(); + update(); +} + +void PointCloudGLWidget::clearPointClouds() +{ + // 释放所有 VBO + makeCurrent(); + for (auto& cloudData : m_pointClouds) { + releaseVBO(cloudData); + } + doneCurrent(); + + m_pointClouds.clear(); + m_selectedPoints.clear(); + m_selectedLine = SelectedLineInfo(); + m_lineSegments.clear(); + m_posePoints.clear(); + m_minBound = QVector3D(-50, -50, -50); + m_maxBound = QVector3D(50, 50, 50); + m_center = QVector3D(0, 0, 0); + m_colorIndex = 0; // 重置颜色索引 + resetView(); + update(); +} + +void PointCloudGLWidget::setPointCloudColor(PointCloudColor color) +{ + m_currentColor = color; + update(); +} + +void PointCloudGLWidget::setPointSize(float size) +{ + m_pointSize = qBound(1.0f, size, 10.0f); + update(); +} + +void PointCloudGLWidget::resetView() +{ + QVector3D size = m_maxBound - m_minBound; + float maxSize = qMax(qMax(size.x(), size.y()), size.z()); + + // 确保最小视距 + m_distance = qMax(maxSize * 2.0f, 10.0f); + // 默认视角：右手坐标系，X轴朝右，Y轴朝上，Z轴朝向观察者 + m_rotationX = 0.0f; + m_rotationY = 0.0f; + m_rotationZ = 0.0f; + m_pan = QVector3D(0, 0, 0); + + LOG_INFO("[CloudView] resetView: size=(%.3f, %.3f, %.3f) maxSize=%.3f distance=%.3f\n", + size.x(), size.y(), size.z(), maxSize, m_distance); + + emit viewAnglesChanged(m_rotationX, m_rotationY, m_rotationZ); + update(); +} + +void PointCloudGLWidget::setViewAngles(float rotX, float rotY, float rotZ) +{ + m_rotationX = rotX; + m_rotationY = rotY; + m_rotationZ = rotZ; + m_pan = QVector3D(0, 0, 0); + + LOG_INFO("[CloudView] setViewAngles: rotX=%.1f, rotY=%.1f, rotZ=%.1f\n", rotX, rotY, rotZ); + + emit viewAnglesChanged(m_rotationX, m_rotationY, m_rotationZ); + update(); +} + +void PointCloudGLWidget::clearSelectedPoints() +{ + m_selectedPoints.clear(); + update(); +} + +void PointCloudGLWidget::clearSelectedLine() +{ + m_selectedLine = SelectedLineInfo(); + update(); +} + +bool PointCloudGLWidget::selectLineByIndex(int lineIndex) +{ + if (m_pointClouds.empty()) { + return false; + } + + const auto& cloudData = m_pointClouds[0]; + if (!cloudData.hasLineInfo) { + return false; + } + + // 检查线索引是否有效 + if (lineIndex < 0 || lineIndex >= cloudData.totalLines) { + return false; + } + + // 计算该线上的点数 + int pointCount = 0; + for (int idx : cloudData.lineIndices) { + if (idx == lineIndex) { + pointCount++; + } + } + + if (pointCount == 0) { + return false; + } + + // 设置选中的线 + m_selectedLine.valid = true; + m_selectedLine.cloudIndex = 0; + m_selectedLine.lineIndex = lineIndex; + m_selectedLine.pointIndex = -1; + m_selectedLine.pointCount = pointCount; + m_selectedLine.mode = LineSelectMode::Vertical; + + emit lineSelected(m_selectedLine); + update(); + return true; +} + +bool PointCloudGLWidget::selectHorizontalLineByIndex(int pointIndex) +{ + if (m_pointClouds.empty()) { + return false; + } + + const auto& cloudData = m_pointClouds[0]; + if (!cloudData.hasLineInfo || cloudData.totalLines <= 0 || cloudData.pointsPerLine <= 0) { + return false; + } + + // 检查点索引是否有效（使用原始点云的每线点数） + if (pointIndex < 0 || pointIndex >= cloudData.pointsPerLine) { + return false; + } + + // 设置选中的横向线 + m_selectedLine.valid = true; + m_selectedLine.cloudIndex = 0; + m_selectedLine.lineIndex = -1; + m_selectedLine.pointIndex = pointIndex; + m_selectedLine.pointCount = cloudData.totalLines; // 横向线的点数等于总线数 + m_selectedLine.mode = LineSelectMode::Horizontal; + + emit lineSelected(m_selectedLine); + update(); + return true; +} + +float PointCloudGLWidget::calculateDistance(const SelectedPointInfo& p1, const SelectedPointInfo& p2) +{ + if (!p1.valid || !p2.valid) { + return 0.0f; + } + + float dx = p2.x - p1.x; + float dy = p2.y - p1.y; + float dz = p2.z - p1.z; + + return std::sqrt(dx * dx + dy * dy + dz * dz); +} + +QVector PointCloudGLWidget::getSelectedLinePoints() const +{ + QVector points; + + if (!m_selectedLine.valid || m_selectedLine.cloudIndex < 0) { + return points; + } + + if (m_selectedLine.cloudIndex >= static_cast(m_pointClouds.size())) { + return points; + } + + const auto& cloudData = m_pointClouds[m_selectedLine.cloudIndex]; + if (!cloudData.hasLineInfo) { + return points; + } + + if (m_selectedLine.mode == LineSelectMode::Vertical) { + // 纵向选线：获取同一条扫描线上的所有点 + for (size_t i = 0; i < cloudData.lineIndices.size(); ++i) { + if (cloudData.lineIndices[i] == m_selectedLine.lineIndex) { + size_t vertIdx = i * 3; + if (vertIdx + 2 < cloudData.vertices.size()) { + points.append(QVector3D( + cloudData.vertices[vertIdx], + cloudData.vertices[vertIdx + 1], + cloudData.vertices[vertIdx + 2])); + } + } + } + } else { + // 横向选线：获取所有线的相同索引点 + if (cloudData.pointsPerLine > 0 && m_selectedLine.pointIndex >= 0) { + for (size_t i = 0; i < cloudData.originalIndices.size(); ++i) { + int originalIdx = cloudData.originalIndices[i]; + if (originalIdx % cloudData.pointsPerLine == m_selectedLine.pointIndex) { + size_t vertIdx = i * 3; + if (vertIdx + 2 < cloudData.vertices.size()) { + points.append(QVector3D( + cloudData.vertices[vertIdx], + cloudData.vertices[vertIdx + 1], + cloudData.vertices[vertIdx + 2])); + } + } + } + } + } + + return points; +} + +void PointCloudGLWidget::setListHighlightPoint(const QVector3D& point) +{ + m_hasListHighlightPoint = true; + m_listHighlightPoint = point; + update(); +} + +void PointCloudGLWidget::clearListHighlightPoint() +{ + m_hasListHighlightPoint = false; + update(); +} + +void PointCloudGLWidget::transformAllClouds(const QMatrix4x4& matrix) +{ + for (auto& cloudData : m_pointClouds) { + for (size_t i = 0; i + 2 < cloudData.vertices.size(); i += 3) { + QVector3D pt(cloudData.vertices[i], cloudData.vertices[i + 1], cloudData.vertices[i + 2]); + QVector3D transformed = matrix.map(pt); + cloudData.vertices[i] = transformed.x(); + cloudData.vertices[i + 1] = transformed.y(); + cloudData.vertices[i + 2] = transformed.z(); + } + } + + // 重新上传 VBO（顶点数据已变更） + makeCurrent(); + for (auto& cloudData : m_pointClouds) { + uploadToVBO(cloudData); + } + doneCurrent(); + + computeBoundingBox(); + resetView(); + update(); +} + +void PointCloudGLWidget::computeBoundingBox() +{ + if (m_pointClouds.empty()) { + m_minBound = QVector3D(-50, -50, -50); + m_maxBound = QVector3D(50, 50, 50); + m_center = QVector3D(0, 0, 0); + return; + } + + float minX = FLT_MAX, minY = FLT_MAX, minZ = FLT_MAX; + float maxX = -FLT_MAX, maxY = -FLT_MAX, maxZ = -FLT_MAX; + + for (const auto& cloudData : m_pointClouds) { + for (size_t i = 0; i < cloudData.vertices.size(); i += 3) { + float x = cloudData.vertices[i]; + float y = cloudData.vertices[i + 1]; + float z = cloudData.vertices[i + 2]; + + minX = qMin(minX, x); + minY = qMin(minY, y); + minZ = qMin(minZ, z); + maxX = qMax(maxX, x); + maxY = qMax(maxY, y); + maxZ = qMax(maxZ, z); + } + } + + m_minBound = QVector3D(minX, minY, minZ); + m_maxBound = QVector3D(maxX, maxY, maxZ); + m_center = (m_minBound + m_maxBound) / 2.0f; +} + +void PointCloudGLWidget::setCurrentColor(PointCloudColor color) +{ + switch (color) { + case PointCloudColor::White: glColor3f(1.0f, 1.0f, 1.0f); break; + case PointCloudColor::Red: glColor3f(1.0f, 0.0f, 0.0f); break; + case PointCloudColor::Green: glColor3f(0.0f, 1.0f, 0.0f); break; + case PointCloudColor::Blue: glColor3f(0.0f, 0.0f, 1.0f); break; + case PointCloudColor::Yellow: glColor3f(1.0f, 1.0f, 0.0f); break; + case PointCloudColor::Cyan: glColor3f(0.0f, 1.0f, 1.0f); break; + case PointCloudColor::Magenta: glColor3f(1.0f, 0.0f, 1.0f); break; + default: glColor3f(1.0f, 1.0f, 1.0f); break; + } +} + +void PointCloudGLWidget::setColorByIndex(int colorIndex) +{ + // 颜色表：浅灰、浅绿、浅蓝、黄、青、品红、白 + static const float colorTable[7][3] = { + {0.75f, 0.75f, 0.75f}, // 浅灰色 + {0.3f, 1.0f, 0.3f}, // 浅绿 + {0.3f, 0.3f, 1.0f}, // 浅蓝 + {1.0f, 1.0f, 0.3f}, // 黄 + {0.3f, 1.0f, 1.0f}, // 青 + {1.0f, 0.3f, 1.0f}, // 品红 + {1.0f, 1.0f, 1.0f}, // 白 + }; + + int idx = colorIndex % COLOR_COUNT; + glColor3f(colorTable[idx][0], colorTable[idx][1], colorTable[idx][2]); +} + +SelectedPointInfo PointCloudGLWidget::pickPoint(int screenX, int screenY) +{ + SelectedPointInfo result; + + if (m_pointClouds.empty()) { + return result; + } + + // 获取视口和矩阵 + GLint viewport[4]; + GLdouble modelMatrix[16], projMatrix[16]; + + glGetIntegerv(GL_VIEWPORT, viewport); + glGetDoublev(GL_MODELVIEW_MATRIX, modelMatrix); + glGetDoublev(GL_PROJECTION_MATRIX, projMatrix); + + // 转换屏幕 Y 坐标（OpenGL Y 轴向上） + int glScreenY = viewport[3] - screenY; + + float minScreenDist = FLT_MAX; + size_t bestIndex = 0; + int bestCloudIndex = -1; + int bestLineIndex = -1; + float bestX = 0, bestY = 0, bestZ = 0; + + // 遍历所有点，计算屏幕投影距离 + for (size_t cloudIdx = 0; cloudIdx < m_pointClouds.size(); ++cloudIdx) { + const auto& cloudData = m_pointClouds[cloudIdx]; + for (size_t i = 0; i < cloudData.vertices.size(); i += 3) { + float wx = cloudData.vertices[i]; + float wy = cloudData.vertices[i + 1]; + float wz = cloudData.vertices[i + 2]; + + // 将世界坐标投影到屏幕 + GLdouble sx, sy, sz; + gluProject(wx, wy, wz, modelMatrix, projMatrix, viewport, &sx, &sy, &sz); + + // 计算屏幕距离 + float dx = static_cast(sx) - screenX; + float dy = static_cast(sy) - glScreenY; + float screenDist = dx * dx + dy * dy; + + if (screenDist < minScreenDist) { + minScreenDist = screenDist; + bestIndex = i / 3; + bestCloudIndex = static_cast(cloudIdx); + bestX = wx; + bestY = wy; + bestZ = wz; + + // 获取线索引 + if (cloudData.hasLineInfo && bestIndex < cloudData.lineIndices.size()) { + bestLineIndex = cloudData.lineIndices[bestIndex]; + } else { + bestLineIndex = -1; + } + } + } + } + + // 屏幕距离阈值（像素），20像素内认为选中 + float threshold = 20.0f * 20.0f; + if (minScreenDist < threshold) { + result.valid = true; + result.index = bestIndex; + result.cloudIndex = bestCloudIndex; + result.lineIndex = bestLineIndex; + result.x = bestX; + result.y = bestY; + result.z = bestZ; + + // 计算点在线中的原始索引 + if (bestLineIndex >= 0 && bestCloudIndex >= 0) { + const auto& cloudData = m_pointClouds[bestCloudIndex]; + // 使用原始索引计算：原始索引 % 每线点数 + if (bestIndex < cloudData.originalIndices.size() && cloudData.pointsPerLine > 0) { + int originalIdx = cloudData.originalIndices[bestIndex]; + result.pointIndexInLine = originalIdx % cloudData.pointsPerLine; + } + } + + LOG_INFO("[CloudView] Point selected: (%.3f, %.3f, %.3f) lineIndex=%d pointIndexInLine=%d screenDist=%.1f\n", + bestX, bestY, bestZ, bestLineIndex, result.pointIndexInLine, std::sqrt(minScreenDist)); + } else { + LOG_INFO("[CloudView] No point selected, minScreenDist=%.1f\n", std::sqrt(minScreenDist)); + } + + return result; +} + +void PointCloudGLWidget::drawSelectedPoints() +{ + glPointSize(10.0f); + glDisable(GL_DEPTH_TEST); + + glBegin(GL_POINTS); + + // 绘制选中的点（橙色） + for (const auto& pt : m_selectedPoints) { + if (pt.valid) { + glColor3f(1.0f, 0.5f, 0.0f); // 橙色 + glVertex3f(pt.x, pt.y, pt.z); + } + } + + // 绘制列表高亮点（蓝色，与选点区分） + if (m_hasListHighlightPoint) { + glColor3f(0.0f, 0.5f, 1.0f); // 蓝色 + glVertex3f(m_listHighlightPoint.x(), m_listHighlightPoint.y(), m_listHighlightPoint.z()); + } + + glEnd(); + + glEnable(GL_DEPTH_TEST); + glPointSize(m_pointSize); +} + +void PointCloudGLWidget::drawMeasurementLine() +{ + if (m_selectedPoints.size() < 2) { + return; + } + + const auto& p1 = m_selectedPoints[0]; + const auto& p2 = m_selectedPoints[1]; + + if (!p1.valid || !p2.valid) { + return; + } + + glDisable(GL_DEPTH_TEST); + glLineWidth(2.0f); + + glBegin(GL_LINES); + glColor3f(0.0f, 1.0f, 0.0f); + glVertex3f(p1.x, p1.y, p1.z); + glVertex3f(p2.x, p2.y, p2.z); + glEnd(); + + glLineWidth(1.0f); + glEnable(GL_DEPTH_TEST); +} + +void PointCloudGLWidget::drawSelectedLine() +{ + if (!m_selectedLine.valid || m_selectedLine.cloudIndex < 0) { + return; + } + + if (m_selectedLine.cloudIndex >= static_cast(m_pointClouds.size())) { + return; + } + + const auto& cloudData = m_pointClouds[m_selectedLine.cloudIndex]; + if (!cloudData.hasLineInfo) { + return; + } + + // 高亮显示选中线上的所有点 + glPointSize(3.0f); + glDisable(GL_DEPTH_TEST); + + glBegin(GL_POINTS); + glColor3f(1.0f, 1.0f, 0.0f); // 黄色高亮 + + if (m_selectedLine.mode == LineSelectMode::Vertical) { + // 纵向选线：显示同一条扫描线上的所有点 + for (size_t i = 0; i < cloudData.lineIndices.size(); ++i) { + if (cloudData.lineIndices[i] == m_selectedLine.lineIndex) { + size_t vertIdx = i * 3; + if (vertIdx + 2 < cloudData.vertices.size()) { + glVertex3f(cloudData.vertices[vertIdx], + cloudData.vertices[vertIdx + 1], + cloudData.vertices[vertIdx + 2]); + } + } + } + } else { + // 横向选线：显示所有线的相同原始索引点 + if (cloudData.pointsPerLine > 0 && m_selectedLine.pointIndex >= 0) { + for (size_t i = 0; i < cloudData.originalIndices.size(); ++i) { + int originalIdx = cloudData.originalIndices[i]; + // 原始索引 % 每线点数 == 选中的点索引 + if (originalIdx % cloudData.pointsPerLine == m_selectedLine.pointIndex) { + size_t vertIdx = i * 3; + if (vertIdx + 2 < cloudData.vertices.size()) { + glVertex3f(cloudData.vertices[vertIdx], + cloudData.vertices[vertIdx + 1], + cloudData.vertices[vertIdx + 2]); + } + } + } + } + } + glEnd(); + + glEnable(GL_DEPTH_TEST); + glPointSize(m_pointSize); +} + +void PointCloudGLWidget::drawAxis() +{ + // 在右下角绘制坐标系指示器（右手坐标系） + // X轴：红色，指向右 + // Y轴：绿色，指向上 + // Z轴：蓝色，指向观察者（屏幕外） + GLint viewport[4]; + glGetIntegerv(GL_VIEWPORT, viewport); + + int axisSize = 60; // 坐标系区域大小（像素） + int margin = 10; // 距离边缘的边距 + int axisX = viewport[2] - axisSize - margin; // 右下角 X + int axisY = margin; // 右下角 Y（OpenGL Y 轴向上） + + // 保存当前矩阵状态 + glMatrixMode(GL_PROJECTION); + glPushMatrix(); + glLoadIdentity(); + // 设置正交投影，覆盖整个视口 + glOrtho(0, viewport[2], 0, viewport[3], -100, 100); + + glMatrixMode(GL_MODELVIEW); + glPushMatrix(); + glLoadIdentity(); + + // 移动到右下角中心位置 + glTranslatef(axisX + axisSize / 2.0f, axisY + axisSize / 2.0f, 0.0f); + + // 应用当前视图的旋转（与主视图同步） + glRotatef(m_rotationY, 0, 1, 0); + glRotatef(m_rotationX, 1, 0, 0); + glRotatef(m_rotationZ, 0, 0, 1); + + // 关闭深度测试，确保坐标系始终可见 + glDisable(GL_DEPTH_TEST); + + float axisLength = axisSize * 0.4f; // 坐标轴长度 + glLineWidth(2.0f); + glBegin(GL_LINES); + + // X 轴 - 红色（右手坐标系：向右） + glColor3f(1.0f, 0.0f, 0.0f); + glVertex3f(0.0f, 0.0f, 0.0f); + glVertex3f(axisLength, 0.0f, 0.0f); + + // Y 轴 - 绿色（右手坐标系：向上） + glColor3f(0.0f, 1.0f, 0.0f); + glVertex3f(0.0f, 0.0f, 0.0f); + glVertex3f(0.0f, axisLength, 0.0f); + + // Z 轴 - 蓝色（右手坐标系：向观察者） + glColor3f(0.0f, 0.0f, 1.0f); + glVertex3f(0.0f, 0.0f, 0.0f); + glVertex3f(0.0f, 0.0f, axisLength); + + glEnd(); + glLineWidth(1.0f); + + // 恢复深度测试 + glEnable(GL_DEPTH_TEST); + + // 恢复矩阵状态 + glPopMatrix(); + glMatrixMode(GL_PROJECTION); + glPopMatrix(); + glMatrixMode(GL_MODELVIEW); +} + +void PointCloudGLWidget::mousePressEvent(QMouseEvent* event) +{ + m_lastMousePos = event->pos(); + + if (event->button() == Qt::LeftButton) { + // Ctrl+左键：选点 + if (event->modifiers() & Qt::ControlModifier) { + makeCurrent(); + SelectedPointInfo point = pickPoint(event->pos().x(), event->pos().y()); + doneCurrent(); + + if (point.valid) { + if (m_measureDistanceEnabled) { + // 启用测距：最多保留两个点 + if (m_selectedPoints.size() >= MAX_SELECTED_POINTS) { + m_selectedPoints.clear(); + } + m_selectedPoints.append(point); + + emit pointSelected(point); + + if (m_selectedPoints.size() == 2) { + float distance = calculateDistance(m_selectedPoints[0], m_selectedPoints[1]); + emit twoPointsSelected(m_selectedPoints[0], m_selectedPoints[1], distance); + } + } else { + // 未启用测距：只保留一个点 + m_selectedPoints.clear(); + m_selectedPoints.append(point); + emit pointSelected(point); + } + + update(); + } + } else if (event->modifiers() & Qt::ShiftModifier) { + // Shift+左键：选线 + makeCurrent(); + SelectedPointInfo point = pickPoint(event->pos().x(), event->pos().y()); + doneCurrent(); + + if (point.valid && point.lineIndex >= 0) { + if (m_lineSelectMode == LineSelectMode::Vertical) { + // 纵向选线：选中该点所在的线 + m_selectedLine.valid = true; + m_selectedLine.cloudIndex = point.cloudIndex; + m_selectedLine.lineIndex = point.lineIndex; + m_selectedLine.pointIndex = -1; + m_selectedLine.mode = LineSelectMode::Vertical; + + // 计算该线上的点数 + int pointCount = 0; + if (point.cloudIndex >= 0 && point.cloudIndex < static_cast(m_pointClouds.size())) { + const auto& cloudData = m_pointClouds[point.cloudIndex]; + for (int idx : cloudData.lineIndices) { + if (idx == point.lineIndex) { + pointCount++; + } + } + } + m_selectedLine.pointCount = pointCount; + } else { + // 横向选线：选中所有线的相同索引点 + m_selectedLine.valid = true; + m_selectedLine.cloudIndex = point.cloudIndex; + m_selectedLine.lineIndex = -1; + m_selectedLine.pointIndex = point.pointIndexInLine; + m_selectedLine.mode = LineSelectMode::Horizontal; + + // 横向线的点数等于总线数 + if (point.cloudIndex >= 0 && point.cloudIndex < static_cast(m_pointClouds.size())) { + m_selectedLine.pointCount = m_pointClouds[point.cloudIndex].totalLines; + } + } + + emit lineSelected(m_selectedLine); + update(); + } + } else { + m_leftButtonPressed = true; + } + } else if (event->button() == Qt::RightButton) { + m_rightButtonPressed = true; + } else if (event->button() == Qt::MiddleButton) { + m_middleButtonPressed = true; + } +} + +void PointCloudGLWidget::mouseMoveEvent(QMouseEvent* event) +{ + QPoint delta = event->pos() - m_lastMousePos; + m_lastMousePos = event->pos(); + + if (m_leftButtonPressed) { + // Alt+左键拖动：旋转rotZ（滚转） + if (event->modifiers() & Qt::AltModifier) { + m_rotationZ += delta.x() * 0.5f; + } else { + // 普通左键拖动：旋转rotX和rotY + m_rotationY += delta.x() * 0.5f; + m_rotationX += delta.y() * 0.5f; + } + // 移除角度限制，允许无限旋转 + emit viewAnglesChanged(m_rotationX, m_rotationY, m_rotationZ); + update(); + } else if (m_middleButtonPressed) { + float factor = m_distance * 0.002f; + m_pan.setX(m_pan.x() - delta.x() * factor); + m_pan.setY(m_pan.y() + delta.y() * factor); + update(); + } else if (m_rightButtonPressed) { + m_rotationZ += delta.x() * 0.5f; + emit viewAnglesChanged(m_rotationX, m_rotationY, m_rotationZ); + update(); + } +} + +void PointCloudGLWidget::mouseReleaseEvent(QMouseEvent* event) +{ + if (event->button() == Qt::LeftButton) { + m_leftButtonPressed = false; + } else if (event->button() == Qt::RightButton) { + m_rightButtonPressed = false; + } else if (event->button() == Qt::MiddleButton) { + m_middleButtonPressed = false; + } +} + +void PointCloudGLWidget::wheelEvent(QWheelEvent* event) +{ + float delta = event->angleDelta().y() / 120.0f; + m_distance *= (1.0f - delta * 0.1f); + m_distance = qBound(0.1f, m_distance, 10000.0f); + update(); +} + +void PointCloudGLWidget::keyPressEvent(QKeyEvent* event) +{ + if (event->key() == Qt::Key_Space) { + resetView(); + } else { + QOpenGLWidget::keyPressEvent(event); + } +} + +bool PointCloudGLWidget::getFirstCloudData(PointCloudXYZ& cloud) const +{ + if (m_pointClouds.empty()) { + return false; + } + + const auto& cloudData = m_pointClouds[0]; + cloud.clear(); + cloud.reserve(cloudData.vertices.size() / 3); + + for (size_t i = 0; i < cloudData.vertices.size(); i += 3) { + Point3D pt; + pt.x = cloudData.vertices[i]; + pt.y = cloudData.vertices[i + 1]; + pt.z = cloudData.vertices[i + 2]; + + int lineIdx = 0; + if (cloudData.hasLineInfo && (i / 3) < cloudData.lineIndices.size()) { + lineIdx = cloudData.lineIndices[i / 3]; + } + cloud.push_back(pt, lineIdx); + } + + return true; +} + +void PointCloudGLWidget::replaceFirstCloud(const PointCloudXYZ& cloud, const QString& name) +{ + if (m_pointClouds.empty()) { + addPointCloud(cloud, name); + return; + } + + // 保留第一个点云的颜色索引 + int colorIndex = m_pointClouds[0].colorIndex; + + // 重新构建数据 + PointCloudData data; + data.name = name; + data.hasColor = false; + data.hasLineInfo = !cloud.lineIndices.empty(); + data.colorIndex = colorIndex; + data.vertices.reserve(cloud.size() * 3); + data.totalLines = 0; + data.pointsPerLine = 0; + + const float EPSILON = 1e-6f; + for (size_t i = 0; i < cloud.points.size(); ++i) { + const auto& pt = cloud.points[i]; + if (!std::isfinite(pt.x) || !std::isfinite(pt.y) || !std::isfinite(pt.z)) { + continue; + } + // 显示时过滤 (0,0,0) 点 + if (std::fabs(pt.x) < EPSILON && std::fabs(pt.y) < EPSILON && std::fabs(pt.z) < EPSILON) { + continue; + } + data.vertices.push_back(pt.x); + data.vertices.push_back(pt.y); + data.vertices.push_back(pt.z); + + // 保存原始索引 + data.originalIndices.push_back(static_cast(i)); + + if (data.hasLineInfo && i < cloud.lineIndices.size()) { + int lineIdx = cloud.lineIndices[i]; + data.lineIndices.push_back(lineIdx); + if (lineIdx + 1 > data.totalLines) { + data.totalLines = lineIdx + 1; + } + } + } + + // 计算每线点数 + if (data.totalLines > 0) { + data.pointsPerLine = static_cast(cloud.size()) / data.totalLines; + } + + // 释放旧的 VBO + makeCurrent(); + releaseVBO(m_pointClouds[0]); + + m_pointClouds[0] = std::move(data); + + // 上传新的 VBO + uploadToVBO(m_pointClouds[0]); + doneCurrent(); + + computeBoundingBox(); + resetView(); + update(); +} + +void PointCloudGLWidget::addLineSegments(const QVector& segments) +{ + m_lineSegments.append(segments); + update(); +} + +void PointCloudGLWidget::clearLineSegments() +{ + m_lineSegments.clear(); + update(); +} + +void PointCloudGLWidget::addPosePoints(const QVector& poses) +{ + m_posePoints.append(poses); + update(); +} + +void PointCloudGLWidget::clearPosePoints() +{ + m_posePoints.clear(); + update(); +} + +void PointCloudGLWidget::drawLineSegments() +{ + if (m_lineSegments.isEmpty()) { + return; + } + + glLineWidth(2.0f); + glBegin(GL_LINES); + + for (const auto& seg : m_lineSegments) { + glColor3f(seg.r, seg.g, seg.b); + glVertex3f(seg.x1, seg.y1, seg.z1); + glVertex3f(seg.x2, seg.y2, seg.z2); + } + + glEnd(); + glLineWidth(1.0f); +} + +void PointCloudGLWidget::drawPosePoints() +{ + if (m_posePoints.isEmpty()) { + return; + } + + glLineWidth(2.0f); + + for (const auto& pose : m_posePoints) { + glPushMatrix(); + + // 移动到姿态点位置 + glTranslatef(pose.x, pose.y, pose.z); + + // 根据选择的欧拉角旋转顺序应用旋转 + // OpenGL的glRotatef是右乘，所以需要反向写 + switch (m_eulerRotationOrder) { + case EulerRotationOrder::ZYX: // Yaw-Pitch-Roll（最常用） + glRotatef(pose.rx, 1, 0, 0); // X轴旋转（最后应用） + glRotatef(pose.ry, 0, 1, 0); // Y轴旋转（第二个应用） + glRotatef(pose.rz, 0, 0, 1); // Z轴旋转（第一个应用） + break; + case EulerRotationOrder::XYZ: // Roll-Pitch-Yaw + glRotatef(pose.rz, 0, 0, 1); + glRotatef(pose.ry, 0, 1, 0); + glRotatef(pose.rx, 1, 0, 0); + break; + case EulerRotationOrder::ZXY: // Yaw-Roll-Pitch + glRotatef(pose.ry, 0, 1, 0); + glRotatef(pose.rx, 1, 0, 0); + glRotatef(pose.rz, 0, 0, 1); + break; + case EulerRotationOrder::YXZ: // Pitch-Roll-Yaw + glRotatef(pose.rz, 0, 0, 1); + glRotatef(pose.rx, 1, 0, 0); + glRotatef(pose.ry, 0, 1, 0); + break; + case EulerRotationOrder::XZY: // Roll-Yaw-Pitch + glRotatef(pose.ry, 0, 1, 0); + glRotatef(pose.rz, 0, 0, 1); + glRotatef(pose.rx, 1, 0, 0); + break; + case EulerRotationOrder::YZX: // Pitch-Yaw-Roll + glRotatef(pose.rx, 1, 0, 0); + glRotatef(pose.rz, 0, 0, 1); + glRotatef(pose.ry, 0, 1, 0); + break; + } + + // 绘制坐标系（右手坐标系：X红右，Y绿上，Z蓝前） + glBegin(GL_LINES); + + // X轴 - 红色 + glColor3f(1.0f, 0.0f, 0.0f); + glVertex3f(0.0f, 0.0f, 0.0f); + glVertex3f(pose.scale, 0.0f, 0.0f); + + // Y轴 - 绿色 + glColor3f(0.0f, 1.0f, 0.0f); + glVertex3f(0.0f, 0.0f, 0.0f); + glVertex3f(0.0f, pose.scale, 0.0f); + + // Z轴 - 蓝色 + glColor3f(0.0f, 0.0f, 1.0f); + glVertex3f(0.0f, 0.0f, 0.0f); + glVertex3f(0.0f, 0.0f, pose.scale); + + glEnd(); + + glPopMatrix(); + } + + glLineWidth(1.0f); +} diff --git a/CloudView/main.cpp b/CloudView/main.cpp new file mode 100644 index 0000000..1ae2828 --- /dev/null +++ b/CloudView/main.cpp @@ -0,0 +1,35 @@ +#include +#include +#include +#include "CloudViewMainWindow.h" + +#define APP_VERSION "1.1.0" + +int main(int argc, char* argv[]) +{ + QApplication app(argc, argv); + + // 设置 OpenGL 格式 - 使用 2.1 版本以确保固定管线兼容 + QSurfaceFormat format; + format.setDepthBufferSize(24); + format.setStencilBufferSize(8); + format.setVersion(2, 1); // 使用 OpenGL 2.1 以确保固定管线函数可用 + format.setSamples(4); // 抗锯齿 + QSurfaceFormat::setDefaultFormat(format); + + // 设置应用信息 + app.setApplicationName("CloudView"); + app.setOrganizationName("CloudView"); + app.setApplicationVersion(APP_VERSION); + + // 设置应用程序图标 + app.setWindowIcon(QIcon(":/logo.png")); + + // 创建并显示主窗口 + CloudViewMainWindow mainWindow; + mainWindow.setWindowTitle(QString("点云查看器 v%1").arg(APP_VERSION)); + mainWindow.resize(1280, 720); + mainWindow.show(); + + return app.exec(); +} diff --git a/CloudView/poses.txt b/CloudView/poses.txt new file mode 100644 index 0000000..b22a532 --- /dev/null +++ b/CloudView/poses.txt @@ -0,0 +1,17 @@ +# 姿态点示例 +# 格式：{x,y,z}-{r,p,y} + +# 原点 +{0,0,0}-{0,0,0} + +# X轴上 +{100,0,0}-{0,0,45} + +# Y轴上 +{0,100,0}-{0,0,90} + +# Z轴上 +{0,0,100}-{0,45,0} + +# 对角线 +{50,50,50}-{30,30,30} diff --git a/CloudView/resource/logo.ico b/CloudView/resource/logo.ico new file mode 100644 index 0000000000000000000000000000000000000000..cd0e408c0acea72dee23c29d461324b342bac58f GIT binary patch literal 38078 zcmeHQd5m4vd4FSLn-G@RH8C#67@OE;@Vxi#dt*1y1tp4L!2 zRmTAd=q6PaAxJ2J(vpRcUCKfdGzub{Nd>WR3xUj}Dr!X>Y+@E;#`F67oqK+FzI)!i z^X{8_-?Lr6K_BPbbI<*j-}jyMo_AfVjp4s5udLz!n`)oGp;miwtybF(LQ!oR#B%=a z#=X(s2!Rm-BLqeWj1U+hFhXF2zzBg88G%ikHl4a*!-h3mw{Bf~veDYLYtMl1mJi#1 z+qZAu)Mzw5+-kL^+wJzlNM}H^y(o&J*%O(pea&Wb78pDV+B-2Z@y|PU?6?$u7#pN7 z)~{cG8suIJJstxc1(qG8T?C(Wm1WgC-pgp8CF*Ohfkj6IKOCyp>$jl~ICl^}7#|-$ z2eR%0W#UfEi_o#gyvo>+FXRKC&R%@+#V@PU2ivx7I|ID$fxLOjv=|n_yjLCZ>s9Y~ zx-XrT5*PUaZQ%g=q=~A00Df14y5e4VOioUAdXeh>e@v|p)FzPreDmhbXO;B<+7h5| z9H4I%`xe7qxEHx^`5lk>EE}@)q#uMo@HztA-cuHT@VEw)U{4v6ouyaVGVwlM(xUcA z-=Hnr3;b7<@WB}TxF;+2i|W;HJ=wvO&)VxM@>%+bZ`Qqj%E-s!58R$$|FKm3G3PlQ 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+{50,150,50}-{50,50,50} + +{50,50,150}-{150,50,150} +{150,50,150}-{150,150,150} +{150,150,150}-{50,150,150} +{50,150,150}-{50,50,150} + +{50,50,50}-{50,50,150} +{150,50,50}-{150,50,150} +{150,150,50}-{150,150,150} +{50,150,50}-{50,150,150} diff --git a/DataUtils/CloudMathClac/CloudMathClac.pro b/DataUtils/CloudMathClac/CloudMathClac.pro new file mode 100644 index 0000000..861f48c --- /dev/null +++ b/DataUtils/CloudMathClac/CloudMathClac.pro @@ -0,0 +1,27 @@ +TEMPLATE = lib +CONFIG += staticlib c++17 +CONFIG -= qt + +TARGET = CloudMathClac + +INCLUDEPATH += $$PWD/Inc +INCLUDEPATH += $$PWD/../../../SDK/Device/VzNLSDK/Inc +INCLUDEPATH += $$PWD/../../../SDK/eigen-3.3.9 + +HEADERS += \ + Inc/CurveFitting.h + +SOURCES += \ + Src/CurveFitting.cpp + +# 平台特定配置 +unix { + QMAKE_CXXFLAGS += -fPIC +} + +win32 { + QMAKE_CXXFLAGS += /utf-8 + CONFIG(debug, debug|release) { + TARGET = CloudMathClacd + } +} diff --git a/DataUtils/CloudMathClac/Inc/CurveFitting.h b/DataUtils/CloudMathClac/Inc/CurveFitting.h new file mode 100644 index 0000000..99cf75f --- /dev/null +++ b/DataUtils/CloudMathClac/Inc/CurveFitting.h @@ -0,0 +1,50 @@ +#ifndef CURVE_FITTING_H +#define CURVE_FITTING_H + +#include +#include "VZNL_Types.h" + +// 平面选择 +enum Plane +{ + XY = 0, + XZ = 1, + YZ = 2 +}; + +// 直线拟合结果 +struct LineFitResult +{ + SVzNL3DPoint point; // 直线上的点 + SVzNL3DPoint direction; // 方向向量 + double error; // 拟合误差 + bool success; // 是否成功 +}; + +// 抛物线拟合结果 +struct ParabolaFitResult +{ + double a, b, c; // 抛物线系数 + double error; // 拟合误差 + bool success; // 是否成功 +}; + +// 圆拟合结果 +struct CircleFitResult +{ + SVzNL3DPoint center; // 圆心 + double radius; // 半径 + double error; // 拟合误差 + bool success; // 是否成功 +}; + +// 直线拟合（3D） +LineFitResult FitLine3D(const std::vector& points); + +// 抛物线拟合 +ParabolaFitResult FitParabola(const std::vector& points, Plane plane); + +// 圆拟合 +CircleFitResult FitCircle(const std::vector& points, Plane plane); + +#endif // CURVE_FITTING_H diff --git a/DataUtils/CloudMathClac/Src/CurveFitting.cpp b/DataUtils/CloudMathClac/Src/CurveFitting.cpp new file mode 100644 index 0000000..4ec2935 --- /dev/null +++ b/DataUtils/CloudMathClac/Src/CurveFitting.cpp @@ -0,0 +1,202 @@ +#include "CurveFitting.h" +#include +#include +#include + +using namespace Eigen; + +LineFitResult FitLine3D(const std::vector& points) +{ + LineFitResult result; + result.success = false; + result.error = 0.0; + + if (points.size() < 2) + return result; + + // 计算质心 + Vector3d centroid(0, 0, 0); + for (const auto& p : points) + { + centroid.x() += p.pt3D.x; + centroid.y() += p.pt3D.y; + centroid.z() += p.pt3D.z; + } + centroid /= points.size(); + + // 构建协方差矩阵 + Matrix3d covariance = Matrix3d::Zero(); + for (const auto& p : points) + { + Vector3d pt(p.pt3D.x - centroid.x(), + p.pt3D.y - centroid.y(), + p.pt3D.z - centroid.z()); + covariance += pt * pt.transpose(); + } + + // 特征值分解，最大特征值对应的特征向量即为方向向量 + SelfAdjointEigenSolver solver(covariance); + Vector3d direction = solver.eigenvectors().col(2); + + // 计算拟合误差 + double totalError = 0.0; + for (const auto& p : points) + { + Vector3d pt(p.pt3D.x - centroid.x(), + p.pt3D.y - centroid.y(), + p.pt3D.z - centroid.z()); + double dist = (pt - pt.dot(direction) * direction).norm(); + totalError += dist * dist; + } + + result.point.x = centroid.x(); + result.point.y = centroid.y(); + result.point.z = centroid.z(); + result.direction.x = direction.x(); + result.direction.y = direction.y(); + result.direction.z = direction.z(); + result.error = std::sqrt(totalError / points.size()); + result.success = true; + + return result; +} + +ParabolaFitResult FitParabola(const std::vector& points, Plane plane) +{ + ParabolaFitResult result; + result.success = false; + result.error = 0.0; + + if (points.size() < 3) + return result; + + MatrixXd A(points.size(), 3); + VectorXd B(points.size()); + + for (size_t i = 0; i < points.size(); ++i) + { + double u, v; + if (plane == XY) { + u = points[i].pt3D.x; + v = points[i].pt3D.y; + } else if (plane == XZ) { + u = points[i].pt3D.x; + v = points[i].pt3D.z; + } else { + u = points[i].pt3D.y; + v = points[i].pt3D.z; + } + A(i, 0) = u * u; + A(i, 1) = u; + A(i, 2) = 1.0; + B(i) = v; + } + + Vector3d coeffs = A.colPivHouseholderQr().solve(B); + result.a = coeffs(0); + result.b = coeffs(1); + result.c = coeffs(2); + + double totalError = 0.0; + for (const auto& p : points) + { + double u, v; + if (plane == XY) { + u = p.pt3D.x; + v = p.pt3D.y; + } else if (plane == XZ) { + u = p.pt3D.x; + v = p.pt3D.z; + } else { + u = p.pt3D.y; + v = p.pt3D.z; + } + double v_fit = result.a * u * u + result.b * u + result.c; + double error = v_fit - v; + totalError += error * error; + } + + result.error = std::sqrt(totalError / points.size()); + result.success = true; + return result; +} + +CircleFitResult FitCircle(const std::vector& points, Plane plane) +{ + CircleFitResult result; + result.success = false; + result.error = 0.0; + + if (points.size() < 3) + return result; + + MatrixXd A(points.size(), 3); + VectorXd B(points.size()); + + for (size_t i = 0; i < points.size(); ++i) + { + double u, v; + if (plane == XY) { + u = points[i].pt3D.x; + v = points[i].pt3D.y; + } else if (plane == XZ) { + u = points[i].pt3D.x; + v = points[i].pt3D.z; + } else { + u = points[i].pt3D.y; + v = points[i].pt3D.z; + } + A(i, 0) = u; + A(i, 1) = v; + A(i, 2) = 1.0; + B(i) = -(u * u + v * v); + } + + Vector3d coeffs = A.colPivHouseholderQr().solve(B); + double D = coeffs(0); + double E = coeffs(1); + double F = coeffs(2); + + double cu = -D / 2.0; + double cv = -E / 2.0; + result.radius = std::sqrt(D * D / 4.0 + E * E / 4.0 - F); + + if (plane == XY) { + result.center.x = cu; + result.center.y = cv; + result.center.z = 0.0; + } else if (plane == XZ) { + result.center.x = cu; + result.center.y = 0.0; + result.center.z = cv; + } else { + result.center.x = 0.0; + result.center.y = cu; + result.center.z = cv; + } + + double totalError = 0.0; + for (const auto& p : points) + { + double u, v; + if (plane == XY) { + u = p.pt3D.x; + v = p.pt3D.y; + } else if (plane == XZ) { + u = p.pt3D.x; + v = p.pt3D.z; + } else { + u = p.pt3D.y; + v = p.pt3D.z; + } + double du = u - cu; + double dv = v - cv; + double dist = std::sqrt(du * du + dv * dv); + double error = dist - result.radius; + totalError += error * error; + } + + result.error = std::sqrt(totalError / points.size()); + result.success = true; + return result; +} diff --git a/DataUtils/CoordinateTransform/CoordinateTransform.pro b/DataUtils/CoordinateTransform/CoordinateTransform.pro new file mode 100644 index 0000000..5ae2dd0 --- /dev/null +++ b/DataUtils/CoordinateTransform/CoordinateTransform.pro @@ -0,0 +1,27 @@ +TEMPLATE = lib +CONFIG += staticlib c++17 +CONFIG -= qt + +TARGET = CoordinateTransform + +INCLUDEPATH += $$PWD/Inc +INCLUDEPATH += $$PWD/../../../SDK/eigen-3.3.9 + +HEADERS += \ + Inc/CoordinateTypes.h \ + Inc/CoordinateTransform.h + +SOURCES += \ + Src/CoordinateTransform.cpp + +# 平台特定配置 +unix { + QMAKE_CXXFLAGS += -fPIC +} + +win32 { + QMAKE_CXXFLAGS += /utf-8 + CONFIG(debug, debug|release) { + TARGET = CoordinateTransformd + } +} diff --git a/DataUtils/CoordinateTransform/Inc/CoordinateTransform.h b/DataUtils/CoordinateTransform/Inc/CoordinateTransform.h new file mode 100644 index 0000000..034edd7 --- /dev/null +++ b/DataUtils/CoordinateTransform/Inc/CoordinateTransform.h @@ -0,0 +1,169 @@ +#ifndef COORDINATE_TRANSFORM_H +#define COORDINATE_TRANSFORM_H + +#include "CoordinateTypes.h" + +namespace CCoordinateTransform +{ + // ==================== 欧拉角与四元数互转 ==================== + + /// 欧拉角转四元数 + /// @param euler 欧拉角 (弧度制) + /// @return 归一化的四元数 + CTQuaternionD eulerToQuaternion(const CTEulerAngles& euler); + + /// 四元数转欧拉角 + /// @param q 四元数 (会自动归一化) + /// @param order 欧拉角顺序 + /// @return 欧拉角 (弧度制) + CTEulerAngles quaternionToEuler(const CTQuaternionD& q, CTEulerOrder order = CTEulerOrder::ZYX); + + // ==================== 旋转矩阵与欧拉角互转 ==================== + + /// 欧拉角转旋转矩阵 + /// @param euler 欧拉角 (弧度制) + /// @return 3x3旋转矩阵 + CTRotationMatrix eulerToRotationMatrix(const CTEulerAngles& euler); + + /// 旋转矩阵转欧拉角 + /// @param R 3x3旋转矩阵 + /// @param order 欧拉角顺序 + /// @return 欧拉角 (弧度制) + CTEulerAngles rotationMatrixToEuler(const CTRotationMatrix& R, CTEulerOrder order = CTEulerOrder::ZYX); + + // ==================== 旋转矩阵与四元数互转 ==================== + + /// 四元数转旋转矩阵 + /// @param q 四元数 + /// @return 3x3旋转矩阵 + CTRotationMatrix quaternionToRotationMatrix(const CTQuaternionD& q); + + /// 旋转矩阵转四元数 + /// @param R 3x3旋转矩阵 + /// @return 归一化的四元数 + CTQuaternionD rotationMatrixToQuaternion(const CTRotationMatrix& R); + + // ==================== 三轴手眼转换 ==================== + + /// 三轴手眼转换：相机坐标 -> 机器人坐标 + /// 适用于三轴龙门架等只有XYZ平移和Z轴旋转的设备 + /// @param cameraPt 相机坐标系下的点 + /// @param robotPose 机器人当前位姿 (XYZ + Rz) + /// @param handEye 三轴手眼标定矩阵 + /// @return 机器人基坐标系下的点 + CTVec3D threeAxisCameraToRobot(const CTVec3D& cameraPt, + const CTRobotPose& robotPose, + const CTThreeAxisCalibResult& handEye); + + /// 三轴手眼转换：机器人坐标 -> 相机坐标 + /// @param robotPt 机器人基坐标系下的点 + /// @param robotPose 机器人当前位姿 (XYZ + Rz) + /// @param handEye 三轴手眼标定矩阵 + /// @return 相机坐标系下的点 + CTVec3D threeAxisRobotToCamera(const CTVec3D& robotPt, + const CTRobotPose& robotPose, + const CTThreeAxisCalibResult& handEye); + + /// 三轴手眼转换：计算抓取位姿 + /// @param cameraPt 相机坐标系下的目标点 + /// @param cameraAngle 相机坐标系下的目标角度 (弧度) + /// @param robotPose 机器人当前位姿 + /// @param handEye 三轴手眼标定矩阵 + /// @param[out] targetPose 输出的目标抓取位姿 + void threeAxisCalcGraspPose(const CTVec3D& cameraPt, + double cameraAngle, + const CTRobotPose& robotPose, + const CTThreeAxisCalibResult& handEye, + CTRobotPose& targetPose); + + // ==================== 六轴手眼转换 ==================== + + /// 六轴手眼转换 (Eye-in-Hand)：相机坐标 -> 机器人坐标 + /// 相机安装在机器人末端执行器上 + /// @param cameraPt 相机坐标系下的点 + /// @param robotPose 机器人当前位姿 (完整6轴) + /// @param handEye 六轴手眼标定矩阵 (相机到末端执行器) + /// @return 机器人基坐标系下的点 + CTVec3D sixAxisEyeInHandCameraToRobot(const CTVec3D& cameraPt, + const CTRobotPose& robotPose, + const CTSixAxisCalibResult& handEye); + + /// 六轴手眼转换 (Eye-in-Hand)：机器人坐标 -> 相机坐标 + /// @param robotPt 机器人基坐标系下的点 + /// @param robotPose 机器人当前位姿 + /// @param handEye 六轴手眼标定矩阵 + /// @return 相机坐标系下的点 + CTVec3D sixAxisEyeInHandRobotToCamera(const CTVec3D& robotPt, + const CTRobotPose& robotPose, + const CTSixAxisCalibResult& handEye); + + /// 六轴手眼转换 (Eye-to-Hand)：相机坐标 -> 机器人坐标 + /// 相机固定在外部，观察机器人工作空间 + /// @param cameraPt 相机坐标系下的点 + /// @param cameraToBase 相机到机器人基座的标定矩阵 + /// @return 机器人基坐标系下的点 + CTVec3D sixAxisEyeToHandCameraToRobot(const CTVec3D& cameraPt, + const CTSixAxisCalibResult& cameraToBase); + + /// 六轴手眼转换 (Eye-to-Hand)：相机坐标 -> 机器人坐标 (直接使用齐次矩阵) + /// @param cameraPt 相机坐标系下的点 + /// @param cameraToBaseMatrix 相机到机器人基座的4x4齐次变换矩阵 + /// @return 机器人基坐标系下的点 + CTVec3D sixAxisEyeToHandCameraToRobot(const CTVec3D& cameraPt, + const CTHomogeneousMatrix& cameraToBaseMatrix); + + /// 六轴手眼转换 (Eye-to-Hand)：机器人坐标 -> 相机坐标 + /// @param robotPt 机器人基坐标系下的点 + /// @param cameraToBase 相机到机器人基座的标定矩阵 + /// @return 相机坐标系下的点 + CTVec3D sixAxisEyeToHandRobotToCamera(const CTVec3D& robotPt, + const CTSixAxisCalibResult& cameraToBase); + + /// 六轴手眼转换：计算抓取位姿 (Eye-in-Hand) + /// @param cameraPose 相机坐标系下的目标位姿 + /// @param robotPose 机器人当前位姿 + /// @param handEye 六轴手眼标定矩阵 + /// @param[out] targetPose 输出的目标抓取位姿 + void sixAxisEyeInHandCalcGraspPose(const CTCameraPose& cameraPose, + const CTRobotPose& robotPose, + const CTSixAxisCalibResult& handEye, + CTRobotPose& targetPose); + + /// 六轴手眼转换：计算抓取位姿 (Eye-to-Hand) + /// @param cameraPose 相机坐标系下的目标位姿 + /// @param cameraToBase 相机到机器人基座的标定矩阵 + /// @param[out] targetPose 输出的目标抓取位姿 + void sixAxisEyeToHandCalcGraspPose(const CTCameraPose& cameraPose, + const CTSixAxisCalibResult& cameraToBase, + CTRobotPose& targetPose); + + /// 六轴手眼转换：计算抓取位姿 (Eye-to-Hand) - 直接使用齐次矩阵 + /// @param cameraPose 相机坐标系下的目标位姿 + /// @param cameraToBaseMatrix 相机到机器人基座的4x4齐次变换矩阵 + /// @param eulerOrder 输出欧拉角的顺序 (默认XYZ，对应外旋ZYX即RZ-RY-RX) + /// @param[out] targetPose 输出的目标抓取位姿 + void sixAxisEyeToHandCalcGraspPose(const CTCameraPose& cameraPose, + const CTHomogeneousMatrix& cameraToBaseMatrix, + CTEulerOrder eulerOrder, + CTRobotPose& targetPose); + + // ==================== 辅助函数 ==================== + + /// 角度转弧度 + inline double degToRad(double deg) { return deg * M_PI / 180.0; } + + /// 弧度转角度 + inline double radToDeg(double rad) { return rad * 180.0 / M_PI; } + + /// 归一化角度到 [-π, π] + double normalizeAngle(double angle); + + /// 计算两个四元数之间的角度差 (弧度) + double quaternionAngleDiff(const CTQuaternionD& q1, const CTQuaternionD& q2); + + /// 四元数球面线性插值 (SLERP) + CTQuaternionD quaternionSlerp(const CTQuaternionD& q1, const CTQuaternionD& q2, double t); + +} // namespace CCoordinateTransform + +#endif // COORDINATE_TRANSFORM_H diff --git a/DataUtils/CoordinateTransform/Inc/CoordinateTypes.h b/DataUtils/CoordinateTransform/Inc/CoordinateTypes.h new file mode 100644 index 0000000..d78a740 --- /dev/null +++ b/DataUtils/CoordinateTransform/Inc/CoordinateTypes.h @@ -0,0 +1,362 @@ +#ifndef COORDINATE_TYPES_H +#define COORDINATE_TYPES_H + +// MSVC 需要在 cmath 之前定义 _USE_MATH_DEFINES 才能使用 M_PI +#define _USE_MATH_DEFINES +#include + +// 如果 M_PI 仍未定义，手动定义 +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +// 欧拉角顺序枚举 +// 内旋 (Intrinsic): 绕旋转后的轴旋转 +// 外旋 (Extrinsic): 绕固定轴旋转 +enum class CTEulerOrder +{ + // 内旋顺序 + XYZ = 0, // 内旋 XYZ: 先绕X轴(roll)，再绕Y'轴(pitch)，最后绕Z''轴(yaw) + ZYX = 1, // 内旋 ZYX: 先绕Z轴(yaw)，再绕Y'轴(pitch)，最后绕X''轴(roll) + ZXY = 2, + YXZ = 3, + YZX = 4, + XZY = 5, + + // 外旋顺序 (Extrinsic) - 绕固定轴旋转 + // 外旋 ABC = 内旋 CBA，但角度赋值不同 + sXYZ = 10, // 外旋 XYZ (RX-RY-RZ): 先绕固定X轴(rx)，再绕固定Y轴(ry)，最后绕固定Z轴(rz) + sZYX = 11, // 外旋 ZYX (RZ-RY-RX): 先绕固定Z轴(rz)，再绕固定Y轴(ry)，最后绕固定X轴(rx) + sZXY = 12, + sYXZ = 13, + sYZX = 14, + sXZY = 15 +}; + +// 三维向量 +struct CTVec3D +{ + double x = 0.0; + double y = 0.0; + double z = 0.0; + + CTVec3D() = default; + CTVec3D(double _x, double _y, double _z) : x(_x), y(_y), z(_z) {} + + // 向量运算 + CTVec3D operator+(const CTVec3D& other) const { return CTVec3D(x + other.x, y + other.y, z + other.z); } + CTVec3D operator-(const CTVec3D& other) const { return CTVec3D(x - other.x, y - other.y, z - other.z); } + CTVec3D operator*(double scalar) const { return CTVec3D(x * scalar, y * scalar, z * scalar); } + + double norm() const { return std::sqrt(x * x + y * y + z * z); } +}; + +// 欧拉角 (弧度制) +struct CTEulerAngles +{ + double roll = 0.0; // 绕X轴旋转 + double pitch = 0.0; // 绕Y轴旋转 + double yaw = 0.0; // 绕Z轴旋转 + CTEulerOrder order = CTEulerOrder::ZYX; // 默认ZYX顺序 + + CTEulerAngles() = default; + CTEulerAngles(double r, double p, double y, CTEulerOrder o = CTEulerOrder::ZYX) + : roll(r), pitch(p), yaw(y), order(o) {} + + // 从角度创建 + static CTEulerAngles fromDegrees(double roll_deg, double pitch_deg, double yaw_deg, + CTEulerOrder o = CTEulerOrder::ZYX) + { + const double deg2rad = M_PI / 180.0; + return CTEulerAngles(roll_deg * deg2rad, pitch_deg * deg2rad, yaw_deg * deg2rad, o); + } + + // 转换为角度 + void toDegrees(double& roll_deg, double& pitch_deg, double& yaw_deg) const + { + const double rad2deg = 180.0 / M_PI; + roll_deg = roll * rad2deg; + pitch_deg = pitch * rad2deg; + yaw_deg = yaw * rad2deg; + } +}; + +// 四元数 (w, x, y, z) +struct CTQuaternionD +{ + double w = 1.0; + double x = 0.0; + double y = 0.0; + double z = 0.0; + + CTQuaternionD() = default; + CTQuaternionD(double _w, double _x, double _y, double _z) : w(_w), x(_x), y(_y), z(_z) {} + + // 归一化 + CTQuaternionD normalized() const + { + double n = std::sqrt(w * w + x * x + y * y + z * z); + if (n < 1e-10) return CTQuaternionD(1.0, 0.0, 0.0, 0.0); + return CTQuaternionD(w / n, x / n, y / n, z / n); + } + + // 共轭四元数 + CTQuaternionD conjugate() const { return CTQuaternionD(w, -x, -y, -z); } + + // 四元数乘法 + CTQuaternionD operator*(const CTQuaternionD& q) const + { + return CTQuaternionD( + w * q.w - x * q.x - y * q.y - z * q.z, + w * q.x + x * q.w + y * q.z - z * q.y, + w * q.y - x * q.z + y * q.w + z * q.x, + w * q.z + x * q.y - y * q.x + z * q.w + ); + } + + // 模长 + double norm() const { return std::sqrt(w * w + x * x + y * y + z * z); } +}; + +// 3x3旋转矩阵 (行优先存储) +struct CTRotationMatrix +{ + double data[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1}; // 单位矩阵 + + CTRotationMatrix() = default; + + // 元素访问 (row, col) + double& at(int row, int col) { return data[row * 3 + col]; } + double at(int row, int col) const { return data[row * 3 + col]; } + + // 矩阵乘法 + CTRotationMatrix operator*(const CTRotationMatrix& other) const + { + CTRotationMatrix result; + for (int i = 0; i < 3; ++i) { + for (int j = 0; j < 3; ++j) { + result.at(i, j) = 0; + for (int k = 0; k < 3; ++k) { + result.at(i, j) += at(i, k) * other.at(k, j); + } + } + } + return result; + } + + // 向量变换 + CTVec3D transform(const CTVec3D& v) const + { + return CTVec3D( + at(0, 0) * v.x + at(0, 1) * v.y + at(0, 2) * v.z, + at(1, 0) * v.x + at(1, 1) * v.y + at(1, 2) * v.z, + at(2, 0) * v.x + at(2, 1) * v.y + at(2, 2) * v.z + ); + } + + // 转置 + CTRotationMatrix transpose() const + { + CTRotationMatrix result; + for (int i = 0; i < 3; ++i) { + for (int j = 0; j < 3; ++j) { + result.at(i, j) = at(j, i); + } + } + return result; + } +}; + +// 4x4齐次变换矩阵 (行优先存储) +struct CTHomogeneousMatrix +{ + double data[16] = {1, 0, 0, 0, + 0, 1, 0, 0, + 0, 0, 1, 0, + 0, 0, 0, 1}; // 单位矩阵 + + CTHomogeneousMatrix() = default; + + // 从旋转矩阵和平移向量构造 + CTHomogeneousMatrix(const CTRotationMatrix& R, const CTVec3D& t) + { + for (int i = 0; i < 3; ++i) { + for (int j = 0; j < 3; ++j) { + at(i, j) = R.at(i, j); + } + } + at(0, 3) = t.x; + at(1, 3) = t.y; + at(2, 3) = t.z; + at(3, 0) = at(3, 1) = at(3, 2) = 0.0; + at(3, 3) = 1.0; + } + + // 元素访问 (row, col) + double& at(int row, int col) { return data[row * 4 + col]; } + double at(int row, int col) const { return data[row * 4 + col]; } + + // 获取旋转部分 + CTRotationMatrix getRotation() const + { + CTRotationMatrix R; + for (int i = 0; i < 3; ++i) { + for (int j = 0; j < 3; ++j) { + R.at(i, j) = at(i, j); + } + } + return R; + } + + // 获取平移部分 + CTVec3D getTranslation() const + { + return CTVec3D(at(0, 3), at(1, 3), at(2, 3)); + } + + // 设置旋转部分 + void setRotation(const CTRotationMatrix& R) + { + for (int i = 0; i < 3; ++i) { + for (int j = 0; j < 3; ++j) { + at(i, j) = R.at(i, j); + } + } + } + + // 设置平移部分 + void setTranslation(const CTVec3D& t) + { + at(0, 3) = t.x; + at(1, 3) = t.y; + at(2, 3) = t.z; + } + + // 矩阵乘法 + CTHomogeneousMatrix operator*(const CTHomogeneousMatrix& other) const + { + CTHomogeneousMatrix result; + for (int i = 0; i < 4; ++i) { + for (int j = 0; j < 4; ++j) { + result.at(i, j) = 0; + for (int k = 0; k < 4; ++k) { + result.at(i, j) += at(i, k) * other.at(k, j); + } + } + } + return result; + } + + // 点变换 (齐次坐标) + CTVec3D transformPoint(const CTVec3D& p) const + { + return CTVec3D( + at(0, 0) * p.x + at(0, 1) * p.y + at(0, 2) * p.z + at(0, 3), + at(1, 0) * p.x + at(1, 1) * p.y + at(1, 2) * p.z + at(1, 3), + at(2, 0) * p.x + at(2, 1) * p.y + at(2, 2) * p.z + at(2, 3) + ); + } + + // 向量变换 (仅旋转，不平移) + CTVec3D transformVector(const CTVec3D& v) const + { + return CTVec3D( + at(0, 0) * v.x + at(0, 1) * v.y + at(0, 2) * v.z, + at(1, 0) * v.x + at(1, 1) * v.y + at(1, 2) * v.z, + at(2, 0) * v.x + at(2, 1) * v.y + at(2, 2) * v.z + ); + } + + // 求逆 + CTHomogeneousMatrix inverse() const + { + CTRotationMatrix R = getRotation(); + CTRotationMatrix R_inv = R.transpose(); + CTVec3D t = getTranslation(); + CTVec3D t_inv = R_inv.transform(t) * (-1.0); + return CTHomogeneousMatrix(R_inv, t_inv); + } +}; + +// 三轴手眼标定结果 (XYZ平移 + Rz旋转) +struct CTThreeAxisCalibResult +{ + double dx = 0.0; // X方向平移 + double dy = 0.0; // Y方向平移 + double dz = 0.0; // Z方向平移 + double rz = 0.0; // 绕Z轴旋转 (弧度) + + CTThreeAxisCalibResult() = default; + CTThreeAxisCalibResult(double _dx, double _dy, double _dz, double _rz) + : dx(_dx), dy(_dy), dz(_dz), rz(_rz) {} + + // 转换为齐次变换矩阵 + CTHomogeneousMatrix toHomogeneousMatrix() const; +}; + +// 六轴手眼标定结果 (完整位姿) +struct CTSixAxisCalibResult +{ + double dx = 0.0; // X方向平移 + double dy = 0.0; // Y方向平移 + double dz = 0.0; // Z方向平移 + double rx = 0.0; // 绕X轴旋转 (弧度) + double ry = 0.0; // 绕Y轴旋转 (弧度) + double rz = 0.0; // 绕Z轴旋转 (弧度) + + CTSixAxisCalibResult() = default; + CTSixAxisCalibResult(double _dx, double _dy, double _dz, double _rx, double _ry, double _rz) + : dx(_dx), dy(_dy), dz(_dz), rx(_rx), ry(_ry), rz(_rz) {} + + // 转换为齐次变换矩阵 + CTHomogeneousMatrix toHomogeneousMatrix() const; +}; + +// 机器人位姿 (工具坐标系相对于基坐标系) +struct CTRobotPose +{ + double x = 0.0; // X位置 (mm) + double y = 0.0; // Y位置 (mm) + double z = 0.0; // Z位置 (mm) + double rx = 0.0; // 绕X轴旋转 (弧度) + double ry = 0.0; // 绕Y轴旋转 (弧度) + double rz = 0.0; // 绕Z轴旋转 (弧度) + + CTRobotPose() = default; + CTRobotPose(double _x, double _y, double _z, double _rx, double _ry, double _rz) + : x(_x), y(_y), z(_z), rx(_rx), ry(_ry), rz(_rz) {} + + // 从角度创建 + static CTRobotPose fromDegrees(double x, double y, double z, + double rx_deg, double ry_deg, double rz_deg) + { + const double deg2rad = M_PI / 180.0; + return CTRobotPose(x, y, z, rx_deg * deg2rad, ry_deg * deg2rad, rz_deg * deg2rad); + } + + // 转换为齐次变换矩阵 + CTHomogeneousMatrix toHomogeneousMatrix() const; +}; + +// 相机位姿 (相机坐标系中的目标位姿) +struct CTCameraPose +{ + double x = 0.0; // X位置 (mm) + double y = 0.0; // Y位置 (mm) + double z = 0.0; // Z位置 (mm) + double rx = 0.0; // 绕X轴旋转 (弧度) + double ry = 0.0; // 绕Y轴旋转 (弧度) + double rz = 0.0; // 绕Z轴旋转 (弧度) + + CTCameraPose() = default; + CTCameraPose(double _x, double _y, double _z, double _rx, double _ry, double _rz) + : x(_x), y(_y), z(_z), rx(_rx), ry(_ry), rz(_rz) {} + + // 转换为齐次变换矩阵 (默认使用ZYX内旋) + CTHomogeneousMatrix toHomogeneousMatrix() const; + + // 转换为齐次变换矩阵 (指定欧拉角顺序) + CTHomogeneousMatrix toHomogeneousMatrix(CTEulerOrder order) const; +}; + +#endif // COORDINATE_TYPES_H diff --git a/DataUtils/CoordinateTransform/Src/CoordinateTransform.cpp b/DataUtils/CoordinateTransform/Src/CoordinateTransform.cpp new file mode 100644 index 0000000..9372053 --- /dev/null +++ b/DataUtils/CoordinateTransform/Src/CoordinateTransform.cpp @@ -0,0 +1,616 @@ +#include "CoordinateTransform.h" +#include +#include +#include + +namespace CCoordinateTransform +{ + +// ==================== 内部辅助函数 ==================== + +// 将自定义 CTRotationMatrix 转为 Eigen Matrix3d +static Eigen::Matrix3d toEigenMatrix(const CTRotationMatrix& R) +{ + Eigen::Matrix3d mat; + for (int i = 0; i < 3; ++i) { + for (int j = 0; j < 3; ++j) { + mat(i, j) = R.at(i, j); + } + } + return mat; +} + +// 将 Eigen Matrix3d 转为自定义 CTRotationMatrix +static CTRotationMatrix fromEigenMatrix(const Eigen::Matrix3d& mat) +{ + CTRotationMatrix R; + for (int i = 0; i < 3; ++i) { + for (int j = 0; j < 3; ++j) { + R.at(i, j) = mat(i, j); + } + } + return R; +} + +// 将自定义 CTQuaternionD 转为 Eigen Quaterniond +static Eigen::Quaterniond toEigenQuaternion(const CTQuaternionD& q) +{ + return Eigen::Quaterniond(q.w, q.x, q.y, q.z); +} + +// 将 Eigen Quaterniond 转为自定义 CTQuaternionD +static CTQuaternionD fromEigenQuaternion(const Eigen::Quaterniond& eq) +{ + return CTQuaternionD(eq.w(), eq.x(), eq.y(), eq.z()); +} + +// 将自定义 CTVec3D 转为 Eigen Vector3d +static Eigen::Vector3d toEigenVector(const CTVec3D& v) +{ + return Eigen::Vector3d(v.x, v.y, v.z); +} + +// 将 Eigen Vector3d 转为自定义 CTVec3D +static CTVec3D fromEigenVector(const Eigen::Vector3d& ev) +{ + return CTVec3D(ev.x(), ev.y(), ev.z()); +} + +// 将自定义 CTHomogeneousMatrix 转为 Eigen Matrix4d +static Eigen::Matrix4d toEigenMatrix4(const CTHomogeneousMatrix& H) +{ + Eigen::Matrix4d mat; + for (int i = 0; i < 4; ++i) { + for (int j = 0; j < 4; ++j) { + mat(i, j) = H.at(i, j); + } + } + return mat; +} + +// 将 Eigen Matrix4d 转为自定义 CTHomogeneousMatrix +static CTHomogeneousMatrix fromEigenMatrix4(const Eigen::Matrix4d& mat) +{ + CTHomogeneousMatrix H; + for (int i = 0; i < 4; ++i) { + for (int j = 0; j < 4; ++j) { + H.at(i, j) = mat(i, j); + } + } + return H; +} + +// ==================== 欧拉角与四元数互转 ==================== + +CTQuaternionD eulerToQuaternion(const CTEulerAngles& euler) +{ + // 使用 Eigen 的 AngleAxis 构建旋转 + Eigen::AngleAxisd rollAngle(euler.roll, Eigen::Vector3d::UnitX()); + Eigen::AngleAxisd pitchAngle(euler.pitch, Eigen::Vector3d::UnitY()); + Eigen::AngleAxisd yawAngle(euler.yaw, Eigen::Vector3d::UnitZ()); + + Eigen::Quaterniond q; + switch (euler.order) + { + // ==================== 内旋顺序 ==================== + case CTEulerOrder::XYZ: + // XYZ内旋: 先绕X轴(roll)，再绕Y'轴(pitch)，最后绕Z''轴(yaw) + // R = Rx * Ry * Rz, 四元数: q = qx * qy * qz + q = rollAngle * pitchAngle * yawAngle; + break; + case CTEulerOrder::ZYX: + // ZYX内旋: 先绕Z轴(yaw)，再绕Y'轴(pitch)，最后绕X''轴(roll) + // R = Rz * Ry * Rx, 四元数: q = qz * qy * qx + q = yawAngle * pitchAngle * rollAngle; + break; + case CTEulerOrder::ZXY: + // ZXY内旋: 先绕Z轴(yaw)，再绕X'轴(roll)，最后绕Y''轴(pitch) + // R = Rz * Rx * Ry, 四元数: q = qz * qx * qy + q = yawAngle * rollAngle * pitchAngle; + break; + case CTEulerOrder::YXZ: + // YXZ内旋: 先绕Y轴(pitch)，再绕X'轴(roll)，最后绕Z''轴(yaw) + // R = Ry * Rx * Rz, 四元数: q = qy * qx * qz + q = pitchAngle * rollAngle * yawAngle; + break; + case CTEulerOrder::YZX: + // YZX内旋: 先绕Y轴(pitch)，再绕Z'轴(yaw)，最后绕X''轴(roll) + // R = Ry * Rz * Rx, 四元数: q = qy * qz * qx + q = pitchAngle * yawAngle * rollAngle; + break; + case CTEulerOrder::XZY: + // XZY内旋: 先绕X轴(roll)，再绕Z'轴(yaw)，最后绕Y''轴(pitch) + // R = Rx * Rz * Ry, 四元数: q = qx * qz * qy + q = rollAngle * yawAngle * pitchAngle; + break; + + // ==================== 外旋顺序 ==================== + // 外旋 ABC: 先绕固定A轴，再绕固定B轴，最后绕固定C轴 + // 外旋 ABC 的旋转矩阵 = 内旋 CBA 的旋转矩阵 + // R = Rc * Rb * Ra + case CTEulerOrder::sZYX: + // 外旋 ZYX (RZ-RY-RX): 先绕固定Z轴(rz)，再绕固定Y轴(ry)，最后绕固定X轴(rx) + // R = Rx * Ry * Rz, 四元数: q = qx * qy * qz + // 注意：这里 roll=rx, pitch=ry, yaw=rz + q = rollAngle * pitchAngle * yawAngle; + break; + case CTEulerOrder::sXYZ: + // 外旋 XYZ (RX-RY-RZ): 先绕固定X轴(rx)，再绕固定Y轴(ry)，最后绕固定Z轴(rz) + // R = Rz * Ry * Rx, 四元数: q = qz * qy * qx + q = yawAngle * pitchAngle * rollAngle; + break; + case CTEulerOrder::sZXY: + // 外旋 ZXY (RZ-RX-RY) + // R = Ry * Rx * Rz, 四元数: q = qy * qx * qz + q = pitchAngle * rollAngle * yawAngle; + break; + case CTEulerOrder::sYXZ: + // 外旋 YXZ (RY-RX-RZ) + // R = Rz * Rx * Ry, 四元数: q = qz * qx * qy + q = yawAngle * rollAngle * pitchAngle; + break; + case CTEulerOrder::sYZX: + // 外旋 YZX (RY-RZ-RX) + // R = Rx * Rz * Ry, 四元数: q = qx * qz * qy + q = rollAngle * yawAngle * pitchAngle; + break; + case CTEulerOrder::sXZY: + // 外旋 XZY (RX-RZ-RY) + // R = Ry * Rz * Rx, 四元数: q = qy * qz * qx + q = pitchAngle * yawAngle * rollAngle; + break; + + default: + // 默认 ZYX内旋 + q = yawAngle * pitchAngle * rollAngle; + break; + } + + return fromEigenQuaternion(q.normalized()); +} + +CTEulerAngles quaternionToEuler(const CTQuaternionD& q, CTEulerOrder order) +{ + Eigen::Quaterniond eq = toEigenQuaternion(q).normalized(); + Eigen::Matrix3d R = eq.toRotationMatrix(); + + CTEulerAngles euler; + euler.order = order; + + // 根据不同顺序提取欧拉角 + Eigen::Vector3d angles; + + switch (order) + { + // ==================== 内旋顺序 ==================== + case CTEulerOrder::ZYX: + // ZYX内旋: R = Rz * Ry * Rx + angles = R.eulerAngles(2, 1, 0); // Eigen 返回 (z, y, x) + euler.yaw = angles(0); + euler.pitch = angles(1); + euler.roll = angles(2); + break; + + case CTEulerOrder::XYZ: + // XYZ内旋: R = Rx * Ry * Rz + angles = R.eulerAngles(0, 1, 2); // Eigen 返回 (x, y, z) + euler.roll = angles(0); + euler.pitch = angles(1); + euler.yaw = angles(2); + break; + + case CTEulerOrder::ZXY: + angles = R.eulerAngles(2, 0, 1); + euler.yaw = angles(0); + euler.roll = angles(1); + euler.pitch = angles(2); + break; + + case CTEulerOrder::YXZ: + angles = R.eulerAngles(1, 0, 2); + euler.pitch = angles(0); + euler.roll = angles(1); + euler.yaw = angles(2); + break; + + case CTEulerOrder::YZX: + angles = R.eulerAngles(1, 2, 0); + euler.pitch = angles(0); + euler.yaw = angles(1); + euler.roll = angles(2); + break; + + case CTEulerOrder::XZY: + angles = R.eulerAngles(0, 2, 1); + euler.roll = angles(0); + euler.yaw = angles(1); + euler.pitch = angles(2); + break; + + // ==================== 外旋顺序 ==================== + // 外旋 ABC 的旋转矩阵 = 内旋 CBA 的旋转矩阵 + // 所以提取欧拉角时使用相同的矩阵分解，但角度赋值不同 + case CTEulerOrder::sZYX: + // 外旋 ZYX (RZ-RY-RX): R = Rx * Ry * Rz + // 使用 XYZ 分解 + angles = R.eulerAngles(0, 1, 2); // Eigen 返回 (x, y, z) + euler.roll = angles(0); // rx + euler.pitch = angles(1); // ry + euler.yaw = angles(2); // rz + break; + + case CTEulerOrder::sXYZ: + // 外旋 XYZ (RX-RY-RZ): R = Rz * Ry * Rx + // 使用 ZYX 分解 + angles = R.eulerAngles(2, 1, 0); // Eigen 返回 (z, y, x) + euler.yaw = angles(0); // rz + euler.pitch = angles(1); // ry + euler.roll = angles(2); // rx + break; + + case CTEulerOrder::sZXY: + // 外旋 ZXY (RZ-RX-RY): R = Ry * Rx * Rz + angles = R.eulerAngles(1, 0, 2); + euler.pitch = angles(0); // ry + euler.roll = angles(1); // rx + euler.yaw = angles(2); // rz + break; + + case CTEulerOrder::sYXZ: + // 外旋 YXZ (RY-RX-RZ): R = Rz * Rx * Ry + angles = R.eulerAngles(2, 0, 1); + euler.yaw = angles(0); // rz + euler.roll = angles(1); // rx + euler.pitch = angles(2); // ry + break; + + case CTEulerOrder::sYZX: + // 外旋 YZX (RY-RZ-RX): R = Rx * Rz * Ry + angles = R.eulerAngles(0, 2, 1); + euler.roll = angles(0); // rx + euler.yaw = angles(1); // rz + euler.pitch = angles(2); // ry + break; + + case CTEulerOrder::sXZY: + // 外旋 XZY (RX-RZ-RY): R = Ry * Rz * Rx + angles = R.eulerAngles(1, 2, 0); + euler.pitch = angles(0); // ry + euler.yaw = angles(1); // rz + euler.roll = angles(2); // rx + break; + + default: + angles = R.eulerAngles(2, 1, 0); + euler.yaw = angles(0); + euler.pitch = angles(1); + euler.roll = angles(2); + break; + } + + return euler; +} + +// ==================== 旋转矩阵与欧拉角互转 ==================== + +CTRotationMatrix eulerToRotationMatrix(const CTEulerAngles& euler) +{ + // 先转四元数，再转旋转矩阵 + CTQuaternionD q = eulerToQuaternion(euler); + return quaternionToRotationMatrix(q); +} + +CTEulerAngles rotationMatrixToEuler(const CTRotationMatrix& R, CTEulerOrder order) +{ + // 先转四元数，再提取欧拉角 + CTQuaternionD q = rotationMatrixToQuaternion(R); + return quaternionToEuler(q, order); +} + +// ==================== 旋转矩阵与四元数互转 ==================== + +CTRotationMatrix quaternionToRotationMatrix(const CTQuaternionD& q) +{ + Eigen::Quaterniond eq = toEigenQuaternion(q).normalized(); + return fromEigenMatrix(eq.toRotationMatrix()); +} + +CTQuaternionD rotationMatrixToQuaternion(const CTRotationMatrix& R) +{ + Eigen::Matrix3d mat = toEigenMatrix(R); + Eigen::Quaterniond eq(mat); + return fromEigenQuaternion(eq.normalized()); +} + +} // namespace CCoordinateTransform + +// ==================== 结构体成员函数实现 (命名空间外) ==================== + +CTHomogeneousMatrix CTThreeAxisCalibResult::toHomogeneousMatrix() const +{ + // 三轴只有Z轴旋转 + CTEulerAngles euler(0.0, 0.0, rz, CTEulerOrder::ZYX); + CTRotationMatrix R = CCoordinateTransform::eulerToRotationMatrix(euler); + CTVec3D t(dx, dy, dz); + return CTHomogeneousMatrix(R, t); +} + +CTHomogeneousMatrix CTSixAxisCalibResult::toHomogeneousMatrix() const +{ + CTEulerAngles euler(rx, ry, rz, CTEulerOrder::ZYX); + CTRotationMatrix R = CCoordinateTransform::eulerToRotationMatrix(euler); + CTVec3D t(dx, dy, dz); + return CTHomogeneousMatrix(R, t); +} + +CTHomogeneousMatrix CTRobotPose::toHomogeneousMatrix() const +{ + CTEulerAngles euler(rx, ry, rz, CTEulerOrder::ZYX); + CTRotationMatrix R = CCoordinateTransform::eulerToRotationMatrix(euler); + CTVec3D t(x, y, z); + return CTHomogeneousMatrix(R, t); +} + +CTHomogeneousMatrix CTCameraPose::toHomogeneousMatrix() const +{ + CTEulerAngles euler(rx, ry, rz, CTEulerOrder::ZYX); + CTRotationMatrix R = CCoordinateTransform::eulerToRotationMatrix(euler); + CTVec3D t(x, y, z); + return CTHomogeneousMatrix(R, t); +} + +CTHomogeneousMatrix CTCameraPose::toHomogeneousMatrix(CTEulerOrder order) const +{ + CTEulerAngles euler(rx, ry, rz, order); + CTRotationMatrix R = CCoordinateTransform::eulerToRotationMatrix(euler); + CTVec3D t(x, y, z); + return CTHomogeneousMatrix(R, t); +} + +// ==================== 继续命名空间内的函数 ==================== + +namespace CCoordinateTransform +{ + +// ==================== 三轴手眼转换 ==================== + +CTVec3D threeAxisCameraToRobot(const CTVec3D& cameraPt, + const CTRobotPose& robotPose, + const CTThreeAxisCalibResult& handEye) +{ + // 三轴龙门架模型: + // P_robot = T_base_to_tool * T_tool_to_camera * P_camera + // 其中 T_tool_to_camera 就是手眼标定矩阵 + + // 手眼变换矩阵 + CTHomogeneousMatrix T_hand_eye = handEye.toHomogeneousMatrix(); + + // 机器人当前位姿变换矩阵 (只使用XYZ和Rz) + CTRobotPose poseRz(robotPose.x, robotPose.y, robotPose.z, 0.0, 0.0, robotPose.rz); + CTHomogeneousMatrix T_robot = poseRz.toHomogeneousMatrix(); + + // 完整变换: P_robot = T_robot * T_hand_eye * P_camera + CTHomogeneousMatrix T_total = T_robot * T_hand_eye; + return T_total.transformPoint(cameraPt); +} + +CTVec3D threeAxisRobotToCamera(const CTVec3D& robotPt, + const CTRobotPose& robotPose, + const CTThreeAxisCalibResult& handEye) +{ + // 逆变换 + CTHomogeneousMatrix T_hand_eye = handEye.toHomogeneousMatrix(); + CTRobotPose poseRz(robotPose.x, robotPose.y, robotPose.z, 0.0, 0.0, robotPose.rz); + CTHomogeneousMatrix T_robot = poseRz.toHomogeneousMatrix(); + + CTHomogeneousMatrix T_total = T_robot * T_hand_eye; + CTHomogeneousMatrix T_inv = T_total.inverse(); + + return T_inv.transformPoint(robotPt); +} + +void threeAxisCalcGraspPose(const CTVec3D& cameraPt, + double cameraAngle, + const CTRobotPose& robotPose, + const CTThreeAxisCalibResult& handEye, + CTRobotPose& targetPose) +{ + // 将相机坐标转换到机器人坐标 + CTVec3D robotPt = threeAxisCameraToRobot(cameraPt, robotPose, handEye); + + // 计算目标角度 + double targetAngle = normalizeAngle(robotPose.rz + handEye.rz + cameraAngle); + + targetPose.x = robotPt.x; + targetPose.y = robotPt.y; + targetPose.z = robotPt.z; + targetPose.rx = 0.0; + targetPose.ry = 0.0; + targetPose.rz = targetAngle; +} + +// ==================== 六轴手眼转换 ==================== + +CTVec3D sixAxisEyeInHandCameraToRobot(const CTVec3D& cameraPt, + const CTRobotPose& robotPose, + const CTSixAxisCalibResult& handEye) +{ + // Eye-in-Hand 模型: + // P_base = T_base_to_end * T_end_to_cam * P_cam + // T_end_to_cam 就是手眼标定矩阵 + + CTHomogeneousMatrix T_hand_eye = handEye.toHomogeneousMatrix(); + CTHomogeneousMatrix T_robot = robotPose.toHomogeneousMatrix(); + + CTHomogeneousMatrix T_total = T_robot * T_hand_eye; + return T_total.transformPoint(cameraPt); +} + +CTVec3D sixAxisEyeInHandRobotToCamera(const CTVec3D& robotPt, + const CTRobotPose& robotPose, + const CTSixAxisCalibResult& handEye) +{ + CTHomogeneousMatrix T_hand_eye = handEye.toHomogeneousMatrix(); + CTHomogeneousMatrix T_robot = robotPose.toHomogeneousMatrix(); + + CTHomogeneousMatrix T_total = T_robot * T_hand_eye; + CTHomogeneousMatrix T_inv = T_total.inverse(); + + return T_inv.transformPoint(robotPt); +} + +CTVec3D sixAxisEyeToHandCameraToRobot(const CTVec3D& cameraPt, + const CTSixAxisCalibResult& cameraToBase) +{ + // Eye-to-Hand 模型: + // P_base = T_base_to_cam * P_cam + // 其中 T_base_to_cam = T_cam_to_base 的逆 + + CTHomogeneousMatrix T_cam_to_base = cameraToBase.toHomogeneousMatrix(); + return T_cam_to_base.transformPoint(cameraPt); +} + +CTVec3D sixAxisEyeToHandCameraToRobot(const CTVec3D& cameraPt, + const CTHomogeneousMatrix& cameraToBaseMatrix) +{ + // Eye-to-Hand 模型: P_robot = T_cam_to_base * P_cam + // 直接使用传入的齐次矩阵 + return cameraToBaseMatrix.transformPoint(cameraPt); +} + +CTVec3D sixAxisEyeToHandRobotToCamera(const CTVec3D& robotPt, + const CTSixAxisCalibResult& cameraToBase) +{ + CTHomogeneousMatrix T_cam_to_base = cameraToBase.toHomogeneousMatrix(); + CTHomogeneousMatrix T_inv = T_cam_to_base.inverse(); + + return T_inv.transformPoint(robotPt); +} + +void sixAxisEyeInHandCalcGraspPose(const CTCameraPose& cameraPose, + const CTRobotPose& robotPose, + const CTSixAxisCalibResult& handEye, + CTRobotPose& targetPose) +{ + // Eye-in-Hand 六轴转换 + // T_total = T_robot * T_hand_eye (从相机坐标系到机器人基座的总变换) + CTHomogeneousMatrix T_hand_eye = handEye.toHomogeneousMatrix(); + CTHomogeneousMatrix T_robot = robotPose.toHomogeneousMatrix(); + CTHomogeneousMatrix T_total = T_robot * T_hand_eye; + + // 1. 位置转换: P_robot = T_total * P_cam + CTVec3D cameraPt(cameraPose.x, cameraPose.y, cameraPose.z); + CTVec3D robotPt = T_total.transformPoint(cameraPt); + targetPose.x = robotPt.x; + targetPose.y = robotPt.y; + targetPose.z = robotPt.z; + + // 2. 姿态转换: R_robot = R_total * R_cam + CTEulerAngles camEuler(cameraPose.rx, cameraPose.ry, cameraPose.rz, CTEulerOrder::ZYX); + CTRotationMatrix R_cam = eulerToRotationMatrix(camEuler); + CTRotationMatrix R_total = T_total.getRotation(); + CTRotationMatrix R_robot = R_total * R_cam; + + // 从旋转矩阵提取欧拉角 + CTEulerAngles robotEuler = rotationMatrixToEuler(R_robot, CTEulerOrder::ZYX); + targetPose.rx = robotEuler.roll; + targetPose.ry = robotEuler.pitch; + targetPose.rz = robotEuler.yaw; +} + +void sixAxisEyeToHandCalcGraspPose(const CTCameraPose& cameraPose, + const CTSixAxisCalibResult& cameraToBase, + CTRobotPose& targetPose) +{ + // Eye-to-Hand 六轴转换 + CTHomogeneousMatrix T_cam_to_base = cameraToBase.toHomogeneousMatrix(); + + // 1. 位置转换: P_robot = T_cam_to_base * P_cam + CTVec3D cameraPt(cameraPose.x, cameraPose.y, cameraPose.z); + CTVec3D robotPt = T_cam_to_base.transformPoint(cameraPt); + targetPose.x = robotPt.x; + targetPose.y = robotPt.y; + targetPose.z = robotPt.z; + + // 2. 姿态转换: R_robot = R_cam_to_base * R_cam + // 默认使用 ZYX 内旋顺序 + CTEulerAngles camEuler(cameraPose.rx, cameraPose.ry, cameraPose.rz, CTEulerOrder::ZYX); + CTRotationMatrix R_cam = eulerToRotationMatrix(camEuler); + CTRotationMatrix R_cam_to_base = T_cam_to_base.getRotation(); + CTRotationMatrix R_robot = R_cam_to_base * R_cam; + + // 从旋转矩阵提取欧拉角 + CTEulerAngles robotEuler = rotationMatrixToEuler(R_robot, CTEulerOrder::ZYX); + targetPose.rx = robotEuler.roll; + targetPose.ry = robotEuler.pitch; + targetPose.rz = robotEuler.yaw; +} + +void sixAxisEyeToHandCalcGraspPose(const CTCameraPose& cameraPose, + const CTHomogeneousMatrix& cameraToBaseMatrix, + CTEulerOrder eulerOrder, + CTRobotPose& targetPose) +{ + // Eye-to-Hand 六轴转换 + // 1. 位置转换: P_robot = T_cam_to_base * P_cam + CTVec3D cameraPt(cameraPose.x, cameraPose.y, cameraPose.z); + CTVec3D robotPt = cameraToBaseMatrix.transformPoint(cameraPt); + targetPose.x = robotPt.x; + targetPose.y = robotPt.y; + targetPose.z = robotPt.z; + + // 2. 姿态转换: R_robot = R_cam_to_base * R_cam + // 先将相机位姿的欧拉角转换为旋转矩阵 + CTEulerAngles camEuler(cameraPose.rx, cameraPose.ry, cameraPose.rz, eulerOrder); + CTRotationMatrix R_cam = eulerToRotationMatrix(camEuler); + + // 获取标定矩阵的旋转部分 + CTRotationMatrix R_cam_to_base = cameraToBaseMatrix.getRotation(); + + // 计算机器人坐标系下的姿态 + CTRotationMatrix R_robot = R_cam_to_base * R_cam; + + // 从旋转矩阵提取欧拉角 + CTEulerAngles robotEuler = rotationMatrixToEuler(R_robot, eulerOrder); + targetPose.rx = robotEuler.roll; + targetPose.ry = robotEuler.pitch; + targetPose.rz = robotEuler.yaw; +} + +// ==================== 辅助函数 ==================== + +double normalizeAngle(double angle) +{ + while (angle > M_PI) + angle -= 2.0 * M_PI; + while (angle < -M_PI) + angle += 2.0 * M_PI; + return angle; +} + +double quaternionAngleDiff(const CTQuaternionD& q1, const CTQuaternionD& q2) +{ + Eigen::Quaterniond eq1 = toEigenQuaternion(q1).normalized(); + Eigen::Quaterniond eq2 = toEigenQuaternion(q2).normalized(); + + // 两个四元数的夹角 + double dot = eq1.dot(eq2); + // 处理符号问题 (q 和 -q 表示相同旋转) + if (dot < 0.0) { + dot = -dot; + } + if (dot > 1.0) dot = 1.0; + + return 2.0 * std::acos(dot); +} + +CTQuaternionD quaternionSlerp(const CTQuaternionD& q1, const CTQuaternionD& q2, double t) +{ + Eigen::Quaterniond eq1 = toEigenQuaternion(q1).normalized(); + Eigen::Quaterniond eq2 = toEigenQuaternion(q2).normalized(); + + Eigen::Quaterniond result = eq1.slerp(t, eq2); + return fromEigenQuaternion(result); +} + +} // namespace CCoordinateTransform diff --git a/DataUtils/DataUtils.pro b/DataUtils/DataUtils.pro new file mode 100644 index 0000000..7ada19d --- /dev/null +++ b/DataUtils/DataUtils.pro @@ -0,0 +1,8 @@ +TEMPLATE = subdirs + +SUBDIRS += \ + CloudMathClac \ + CoordinateTransform + +CloudMathClac.file = CloudMathClac/CloudMathClac.pro +CoordinateTransform.file = CoordinateTransform/CoordinateTransform.pro diff --git a/MIGRATION.md b/MIGRATION.md new file mode 100644 index 0000000..f0cda3d --- /dev/null +++ b/MIGRATION.md @@ -0,0 +1,197 @@ +# Utils 模块重构总结 + +## 修改概述 + +已成功将 Utils 目录设置为独立的 git 仓库，并更新了主项目中所有对 VrCommon、VrUtils 和 CloudUtils 的引用。 + +## 主要修改内容 + +### 1. Utils 目录结构 + +创建了独立的 Utils 模块，包含以下子模块： + +``` +Utils/ +├── VrCommon/ # 核心接口和数据结构 +├── VrUtils/ # 工具类库（JSON、log4cpp、tinyxml2、INI、MD5、CRC） +├── CloudUtils/ # 点云工具 +├── DataUtils/ # 数据处理工具 +│ ├── CloudMathClac/ # 点云数学计算 +│ └── CoordinateTransform/ # 坐标转换 +└── CloudView/ # 点云查看工具 +``` + +### 2. 创建的新文件 + +- `Utils/Utils.pro` - Utils 模块主项目文件 +- `Utils/README.md` - Utils 模块说明文档 +- `Utils/.gitignore` - Git 忽略文件配置 + +### 3. 修改的 .pro 文件 + +#### 主项目 +- `GrabBagPrj/GrabBagPrj.pro` - 将 VrCommon 和 VrUtils 的引用改为 Utils 模块 + +#### Utils 内部模块 +- `Utils/VrCommon/VrCommon.pro` - 添加 VrConfigCmd.h 头文件 +- `Utils/VrUtils/VrUtils.pro` - 保持不变 +- `Utils/CloudUtils/CloudUtils.pro` - 更新 INCLUDEPATH 为相对路径 +- `Utils/CloudView/CloudView.pro` - 更新 INCLUDEPATH 和 LIBS 路径 +- `Utils/DataUtils/CloudMathClac/CloudMathClac.pro` - 更新 SDK 路径 +- `Utils/DataUtils/CoordinateTransform/CoordinateTransform.pro` - 更新 SDK 路径 + +#### VrNets 模块 +- `VrNets/VrTcpClient.pro` - 更新 INCLUDEPATH 和 LIBS 路径 +- `VrNets/VrTcpServer.pro` - 更新 INCLUDEPATH 和 LIBS 路径 + +#### Module 模块 +- `Module/ShareMem/ShareMem.pro` - 更新 INCLUDEPATH +- `Module/ThreadPool/ThreadPool.pro` - 更新 INCLUDEPATH（修正错误路径） +- `Module/ModbusTCPServer/ModbusTCPServer.pro` - 更新 INCLUDEPATH 和 LIBS +- `Module/BinocularMarkReceiver/BinocularMarkReceiver.pro` - 更新 INCLUDEPATH 和 LIBS +- `Module/HandEyeCalib/HandEyeCalib.pro` - 更新 INCLUDEPATH +- `Module/ChessboardDetector/ChessboardDetector.pro` - 更新 INCLUDEPATH +- `Module/AuthModule/AuthModule.pro` - 更新 INCLUDEPATH + +#### Device 模块 +- `Device/VrEyeDevice/VrEyeDevice.pro` - 更新 INCLUDEPATH 和 LIBS +- `Device/HikDevice/HikDevice.pro` - 更新 INCLUDEPATH 和 LIBS +- `Device/GalaxyDevice/GalaxyDevice.pro` - 更新 INCLUDEPATH 和 LIBS +- `Device/GlLineLaserDevice/GlLineLaserDevice.pro` - 更新 INCLUDEPATH 和 LIBS +- `Device/EpicEyeDevice/EpicEyeDevice.pro` - 更新 INCLUDEPATH + +#### AppUtils 模块 +- `AppUtils/AppCommon/AppCommon.pro` - 更新 INCLUDEPATH 和 LIBS +- `AppUtils/UICommon/UICommon.pro` - 更新 INCLUDEPATH + +#### Tools 模块 +- `Tools/AuthRegister/AuthRegister.pro` - 更新 LIBS +- `Tools/ConfigDecryptor/ConfigDecryptor.pro` - 更新 INCLUDEPATH 和 LIBS +- `Tools/CalibView/CalibView.pro` - 更新 INCLUDEPATH 和 LIBS +- `Tools/VrEyeView/VrEyeView.pro` - 更新 INCLUDEPATH 和 LIBS + +#### App 模块（批量更新） +批量更新了 App 目录下所有应用程序的 .pro 文件（约 27 个文件），包括： +- GrabBag +- BeltTearing +- LapWeld +- Workpiece +- WorkpieceProject +- BinocularMark +- BagThreadPosition +- ParticleSize +- ScrewPosition +- TunnelChannel +- WheelMeasure +- WorkpieceHole + +#### Test 模块 +- `Test/tcpclient/tcpclient_test.pro` - 更新路径 +- `Test/tcpserver/tcpserver_test.pro` - 更新路径 + +### 4. 路径替换规则 + +所有 .pro 文件中的路径按以下规则进行了替换： + +``` +旧路径 新路径 +../../VrCommon/Inc -> ../../Utils/VrCommon/Inc +../../VrUtils/Inc -> ../../Utils/VrUtils/Inc +../../VrCommon/release -> ../../Utils/VrCommon/release +../../VrCommon/debug -> ../../Utils/VrCommon/debug +../../VrUtils/release -> ../../Utils/VrUtils/release +../../VrUtils/debug -> ../../Utils/VrUtils/debug +../../AppUtils/CloudUtils -> ../../Utils/CloudUtils + +../../../VrCommon/Inc -> ../../../Utils/VrCommon/Inc +../../../VrUtils/Inc -> ../../../Utils/VrUtils/Inc +../../../VrCommon/release -> ../../../Utils/VrCommon/release +../../../VrCommon/debug -> ../../../Utils/VrCommon/debug +../../../VrUtils/release -> ../../../Utils/VrUtils/release +../../../VrUtils/debug -> ../../../Utils/VrUtils/debug +../../../AppUtils/CloudUtils -> ../../../Utils/CloudUtils +``` + +### 5. Git 仓库初始化 + +已在 Utils 目录下初始化 git 仓库： +```bash +cd Utils +git init +git add . +``` + +所有文件已添加到暂存区，等待提交。 + +## 依赖关系 + +更新后的依赖关系： + +``` +主项目 (GrabBagPrj) + └── Utils + ├── VrCommon + ├── VrUtils (依赖 VrCommon) + ├── CloudUtils (依赖 VrCommon, VrUtils) + ├── DataUtils (依赖 VrCommon) + └── CloudView (依赖 VrCommon, VrUtils, CloudUtils) + └── VrNets (依赖 Utils) + └── Module (依赖 Utils) + └── Device (依赖 Utils) + └── AppUtils (依赖 Utils) + └── App (依赖 Utils, VrNets, Module, Device, AppUtils) + └── Tools (依赖 Utils, Module, Robot) +``` + +## 下一步操作 + +1. 在 Utils 目录下提交初始版本： + ```bash + cd Utils + git commit -m "初始提交：Utils 工具库模块" + ``` + +2. 如果需要推送到远程仓库： + ```bash + git remote add origin <远程仓库地址> + git push -u origin master + ``` + +3. 在主项目中，可以将 Utils 作为 git submodule 引用： + ```bash + cd .. + git submodule add Utils + ``` + +## 验证构建 + +建议执行以下步骤验证构建： + +1. 清理旧的构建产物： + ```bash + cd GrabBagPrj + make clean + ``` + +2. 重新生成 Makefile： + ```bash + qmake GrabBagPrj.pro + ``` + +3. 编译项目： + ```bash + make + ``` + +## 注意事项 + +1. 所有路径更新已完成，但建议在实际编译前进行测试 +2. Utils 模块现在是独立的，可以被其他项目引用 +3. 如果需要修改 Utils 模块，应该在 Utils 目录下进行 git 操作 +4. 主项目的 .gitignore 应该排除 Utils 目录（如果使用 submodule） + +## 文件统计 + +- 修改的 .pro 文件：约 60+ 个 +- 新建的文件：3 个（Utils.pro, README.md, .gitignore） +- Utils 模块包含的文件：约 230+ 个 diff --git a/QUICKSTART.md b/QUICKSTART.md new file mode 100644 index 0000000..1b24496 --- /dev/null +++ b/QUICKSTART.md @@ -0,0 +1,201 @@ +# Utils 模块快速参考指南 + +## 快速开始 + +### 1. 提交 Utils 仓库 + +```bash +cd Utils +git commit -m "初始提交：Utils 工具库模块 + +包含以下子模块： +- VrCommon: 核心接口和数据结构 +- VrUtils: 工具类库（JSON、log4cpp、tinyxml2、INI、MD5、CRC） +- CloudUtils: 点云工具 +- DataUtils: 数据处理工具（CloudMathClac、CoordinateTransform） +- CloudView: 点云查看工具 +" +``` + +### 2. 添加远程仓库（可选） + +```bash +# 添加远程仓库 +git remote add origin <你的远程仓库地址> + +# 推送到远程 +git push -u origin master +``` + +### 3. 在主项目中使用 submodule（可选） + +如果你想将 Utils 作为 git submodule 使用： + +```bash +# 在主项目根目录 +cd .. + +# 删除当前的 Utils 目录（确保已备份） +# rm -rf Utils + +# 添加为 submodule +git submodule add Utils + +# 提交 submodule 配置 +git add .gitmodules Utils +git commit -m "将 Utils 添加为 git submodule" +``` + +## 在其他项目中使用 Utils + +### 方法 1: 作为 git submodule + +```bash +# 在你的项目根目录 +git submodule add Utils +git submodule update --init --recursive +``` + +### 方法 2: 直接克隆 + +```bash +# 在你的项目根目录 +git clone Utils +``` + +### 方法 3: 复制文件 + +直接将 Utils 目录复制到你的项目中。 + +## 在项目中引用 Utils + +### 在 .pro 文件中添加 + +```qmake +# 包含路径 +INCLUDEPATH += $$PWD/../Utils/VrCommon/Inc +INCLUDEPATH += $$PWD/../Utils/VrUtils/Inc + +# 链接库（Windows） +win32:CONFIG(release, debug|release): { + LIBS += -L$$PWD/../Utils/VrCommon/release -lVrCommon + LIBS += -L$$PWD/../Utils/VrUtils/release -lVrUtils +} +else:win32:CONFIG(debug, debug|release): { + LIBS += -L$$PWD/../Utils/VrCommon/debug -lVrCommon + LIBS += -L$$PWD/../Utils/VrUtils/debug -lVrUtils +} + +# 链接库（Unix/Linux） +else:unix:!macx { + LIBS += -L$$PWD/../Utils/VrCommon -lVrCommon + LIBS += -L$$PWD/../Utils/VrUtils -lVrUtils +} +``` + +### 在主项目中添加 Utils 子项目 + +```qmake +# 在主项目的 .pro 文件中 +TEMPLATE = subdirs + +Utils.file = ../Utils/Utils.pro +SUBDIRS += Utils + +# 设置依赖关系 +YourModule.depends = Utils +``` + +## 常用命令 + +### 构建 Utils 模块 + +```bash +cd Utils +qmake Utils.pro +make +``` + +### 清理构建产物 + +```bash +cd Utils +make clean +``` + +### 更新 Utils 模块（如果使用 submodule） + +```bash +# 在主项目根目录 +git submodule update --remote Utils +``` + +## 模块说明 + +### VrCommon +- **用途**: 核心接口和数据结构定义 +- **主要文件**: VrCommon.h, VrConfigCmd.h, VrError.h +- **依赖**: 无 + +### VrUtils +- **用途**: 通用工具类库 +- **主要功能**: 日志、JSON、XML、INI、MD5、CRC、时间、网络、文件、字符串 +- **依赖**: VrCommon + +### CloudUtils +- **用途**: 点云数据处理工具 +- **主要功能**: 激光数据加载、点云图像转换 +- **依赖**: VrCommon, VrUtils + +### DataUtils +- **用途**: 数据处理工具集 +- **子模块**: CloudMathClac（曲线拟合）、CoordinateTransform（坐标转换） +- **依赖**: VrCommon + +### CloudView +- **用途**: 点云可视化查看工具（独立应用） +- **依赖**: VrCommon, VrUtils, CloudUtils + +## 故障排查 + +### 问题 1: 找不到头文件 + +**症状**: 编译时提示找不到 VrCommon.h 或 VrUtils 相关头文件 + +**解决方案**: +1. 检查 INCLUDEPATH 是否正确设置 +2. 确保相对路径正确（根据你的项目结构调整 `../` 的数量） +3. 确保 Utils 目录存在且包含所有必要文件 + +### 问题 2: 链接错误 + +**症状**: 编译通过但链接时提示找不到库文件 + +**解决方案**: +1. 确保先编译 Utils 模块 +2. 检查 LIBS 路径是否正确 +3. 确认 debug/release 配置匹配 + +### 问题 3: submodule 未初始化 + +**症状**: Utils 目录为空 + +**解决方案**: +```bash +git submodule update --init --recursive +``` + +## 版本管理建议 + +### Utils 仓库 +- 使用语义化版本号（如 v1.0.0） +- 为重要版本打 tag +- 维护 CHANGELOG.md + +### 主项目 +- 如果使用 submodule，锁定 Utils 到特定版本 +- 定期更新 Utils 到最新稳定版本 + +## 联系方式 + +如有问题或建议，请联系项目维护者。 diff --git a/README.md b/README.md new file mode 100644 index 0000000..6a30b61 --- /dev/null +++ b/README.md @@ -0,0 +1,141 @@ +# Utils 工具库模块 + +这是一个独立的 Qt 工具库模块，包含了项目中常用的基础工具类和实用功能。 + +## 模块结构 + +``` +Utils/ +├── VrCommon/ # 核心接口和数据结构 +│ ├── Inc/ # 公共头文件 +│ │ ├── VrCommon.h +│ │ ├── VrConfigCmd.h +│ │ └── VrError.h +│ └── Src/ # 源文件 +│ +├── VrUtils/ # 工具类库 +│ ├── Inc/ # 工具类头文件 +│ ├── Src/ # 工具类源文件 +│ ├── jsoncpp/ # JSON 解析库 +│ ├── log4cpp/ # 日志库 +│ ├── tinyxml2/ # XML 解析库 +│ ├── ini/ # INI 配置文件解析 +│ ├── MD5/ # MD5 加密 +│ └── crc/ # CRC 校验 +│ +├── CloudUtils/ # 点云工具 +│ ├── Inc/ +│ │ ├── LaserDataLoader.h +│ │ └── PointCloudImageUtils.h +│ └── Src/ +│ +├── DataUtils/ # 数据处理工具 +│ ├── CloudMathClac/ # 点云数学计算 +│ └── CoordinateTransform/ # 坐标转换 +│ +└── CloudView/ # 点云查看工具（独立应用） + ├── Inc/ + ├── Src/ + └── resource/ +``` + +## 构建说明 + +### 作为子模块构建 + +在主项目的 .pro 文件中添加： + +```qmake +Utils.file = ../Utils/Utils.pro +SUBDIRS += Utils + +# 设置依赖关系 +YourModule.depends = Utils +``` + +### 独立构建 + +```bash +cd Utils +qmake Utils.pro +make +``` + +## 模块说明 + +### VrCommon + +核心接口和数据结构定义，包括： +- 配置接口定义 +- 错误码定义 +- 配置命令数据结构 + +### VrUtils + +通用工具类库，包括： +- **日志工具**: 基于 log4cpp 的日志系统 +- **JSON 解析**: jsoncpp 库 +- **XML 解析**: tinyxml2 库 +- **INI 配置**: SimpleIni 库 +- **加密工具**: MD5、CRC 校验 +- **时间工具**: 时间格式化、NTP 同步 +- **网络工具**: 网络相关实用函数 +- **文件工具**: 文件操作相关函数 +- **字符串工具**: 字符串处理函数 + +### CloudUtils + +点云数据处理工具，包括： +- 激光数据加载器 +- 点云图像转换工具 + +### DataUtils + +数据处理工具集，包括： +- **CloudMathClac**: 点云数学计算（曲线拟合等） +- **CoordinateTransform**: 坐标系转换工具 + +### CloudView + +点云可视化查看工具（独立应用程序） + +## 使用示例 + +### 在项目中引用 + +```qmake +# 包含路径 +INCLUDEPATH += $$PWD/../Utils/VrCommon/Inc +INCLUDEPATH += $$PWD/../Utils/VrUtils/Inc + +# 链接库 +win32:CONFIG(release, debug|release): { + LIBS += -L$$PWD/../Utils/VrCommon/release -lVrCommon + LIBS += -L$$PWD/../Utils/VrUtils/release -lVrUtils +} +else:win32:CONFIG(debug, debug|release): { + LIBS += -L$$PWD/../Utils/VrCommon/debug -lVrCommon + LIBS += -L$$PWD/../Utils/VrUtils/debug -lVrUtils +} +else:unix:!macx { + LIBS += -L$$PWD/../Utils/VrCommon -lVrCommon + LIBS += -L$$PWD/../Utils/VrUtils -lVrUtils +} +``` + +## 依赖关系 + +- **VrUtils** 依赖 **VrCommon** +- **CloudUtils** 依赖 **VrCommon** 和 **VrUtils** +- **DataUtils** 依赖 **VrCommon** +- **CloudView** 依赖 **VrCommon**、**VrUtils** 和 **CloudUtils** + +## 编译要求 + +- Qt 5.x 或更高版本 +- C++11 或更高版本 +- 支持平台：Windows (MSVC/MinGW)、Linux (ARM/x86_64) + +## 许可证 + +内部项目使用 diff --git a/Utils.pro b/Utils.pro new file mode 100644 index 0000000..bdae74f --- /dev/null +++ b/Utils.pro @@ -0,0 +1,22 @@ +TEMPLATE = subdirs + +# 定义子项目 +VrCommon.file = VrCommon/VrCommon.pro +VrUtils.file = VrUtils/VrUtils.pro +CloudUtils.file = CloudUtils/CloudUtils.pro +DataUtils.file = DataUtils/DataUtils.pro +CloudView.file = CloudView/CloudView.pro + +# 添加子项目 +SUBDIRS += \ + VrCommon \ + VrUtils \ + CloudUtils \ + DataUtils \ + CloudView + +# 设置依赖关系 +VrUtils.depends = VrCommon +CloudUtils.depends = VrCommon VrUtils +DataUtils.depends = VrCommon +CloudView.depends = VrCommon VrUtils CloudUtils diff --git a/VrCommon/Inc/VrCommon.h b/VrCommon/Inc/VrCommon.h new file mode 100644 index 0000000..b328614 --- /dev/null +++ b/VrCommon/Inc/VrCommon.h @@ -0,0 +1,59 @@ +#pragma once +//基础头文件 +#include +#include +#include +#include + +//容器 +#include +#include +#include + +//字符流 +#include + +#include "VrError.h" + +#define PI 3.14159265358979323846 + +#define VR_IP_LEN 16 +#define VR_IP_HEX_LEN 4 + +#define VR_MAC_LEN 18 +#define VR_MAC_HEX_LEN 6 + +#define VR_NAME_LEN 64 +#define VR_DESC_LEN 256 + +#define VR_MD5DATA_LEN 32 + +#define UNUSED(x) (void)x + +#define YEAR ((((__DATE__[7] - '0') * 10 + (__DATE__[8] - '0')) * 10 \ + + (__DATE__ [9] - '0')) * 10 + (__DATE__ [10] - '0')) + +#define MONTH (__DATE__ [2] == 'n' ? (__DATE__ [1] == 'a' ? 1 : 6) \ + : __DATE__ [2] == 'b' ? 2 \ + : __DATE__ [2] == 'r' ? (__DATE__ [0] == 'M' ? 3 : 4) \ + : __DATE__ [2] == 'y' ? 5 \ + : __DATE__ [2] == 'l' ? 7 \ + : __DATE__ [2] == 'g' ? 8 \ + : __DATE__ [2] == 'p' ? 9 \ + : __DATE__ [2] == 't' ? 10 \ + : __DATE__ [2] == 'v' ? 11 : 12) + +#define DAY ((__DATE__ [4] == ' ' ? 0 : __DATE__ [4] - '0') * 10 \ + + (__DATE__[5] - '0')) + + +#define HOUR ((__TIME__[0] - '0') * 10 + (__TIME__[1] - '0')) + +#define MINUTE ((__TIME__[3] - '0') * 10 + (__TIME__[4] - '0')) + +#define SECOND ((__TIME__[6] - '0') * 10 + (__TIME__[7] - '0')) + +namespace CVrCommon +{ + +}; diff --git a/VrCommon/Inc/VrConfigCmd.h b/VrCommon/Inc/VrConfigCmd.h new file mode 100644 index 0000000..568432e --- /dev/null +++ b/VrCommon/Inc/VrConfigCmd.h @@ -0,0 +1,205 @@ +#ifndef VRCONFIGCMD_H +#define VRCONFIGCMD_H + +#include +#include + +// 配置命令类型枚举 +enum ConfigCmdType +{ + CONFIG_CMD_UNKNOWN = 0, + CONFIG_CMD_CAMERA_EXPOSE, // 相机曝光设置 + CONFIG_CMD_CAMERA_GAIN, // 相机增益设置 + CONFIG_CMD_CAMERA_FRAMERATE, // 相机帧率设置 + CONFIG_CMD_CAMERA_SWING, // 相机摆动参数设置 + CONFIG_CMD_ALGO_PARAM, // 算法参数设置 + CONFIG_CMD_CALIB_PARAM, // 标定参数设置 + CONFIG_CMD_FULL_CONFIG, // 完整配置更新 + CONFIG_CMD_SWITCH_WORKPOSITION, // 切换工作点 + CONFIG_CMD_SWITCH_PACKAGETYPE, // 切换包裹类型 +}; + +// 相机参数结构 (扩展支持UI中的所有参数) +struct CameraConfigParam +{ + int cameraIndex; // 相机索引 (1或2, -1表示所有相机) + double exposeTime; // 曝光时间 (微秒) + double gain; // 增益值 + double frameRate; // 帧率 + double swingSpeed; // 摆动速度 + double swingStartAngle; // 开始角度 + double swingStopAngle; // 结束角度 + + CameraConfigParam() : cameraIndex(-1), exposeTime(0.0), gain(0.0), + frameRate(0.0), swingSpeed(0.0), swingStartAngle(0.0), swingStopAngle(0.0) {} +}; + +// ROI区域参数结构 +struct ROIConfigParam +{ + int cameraIndex; // 相机索引 (1或2, -1表示所有相机) + int x; // 起始X坐标 + int y; // 起始Y坐标 + int width; // 宽度 + int height; // 高度 + + ROIConfigParam() : cameraIndex(-1), x(0), y(0), width(0), height(0) {} +}; + +// 算法参数结构 +struct AlgoConfigParam +{ + char paramName[64]; // 参数名称 + double paramValue; // 参数值 + + AlgoConfigParam() : paramValue(0.0) + { + memset(paramName, 0, sizeof(paramName)); + } +}; + +// 标定参数结构 +struct CalibConfigParam +{ + int cameraIndex; // 相机索引 + double matrix[16]; // 4x4变换矩阵 + + CalibConfigParam() : cameraIndex(-1) + { + memset(matrix, 0, sizeof(matrix)); + } +}; + +// 摆动参数结构 +struct SwingConfigParam +{ + int cameraIndex; // 相机索引 + double swingSpeed; // 摆动速度 + double startAngle; // 开始角度 + double stopAngle; // 结束角度 + + SwingConfigParam() : cameraIndex(-1), swingSpeed(0.0), startAngle(0.0), stopAngle(0.0) {} +}; + +// 完整配置结构 (用于传输ConfigResult) +struct FullConfigParam +{ + char configJson[4096]; // JSON格式的完整配置数据 + + FullConfigParam() + { + memset(configJson, 0, sizeof(configJson)); + } +}; + +// 工作点切换参数结构 +struct SwitchWorkPositionParam +{ + char workPositionId[64]; // 工作点ID + + SwitchWorkPositionParam() + { + memset(workPositionId, 0, sizeof(workPositionId)); + } +}; + +// 包裹类型切换参数结构 +struct SwitchPackageTypeParam +{ + char packageTypeId[64]; // 包裹类型ID + + SwitchPackageTypeParam() + { + memset(packageTypeId, 0, sizeof(packageTypeId)); + } +}; + +// 配置命令数据结构 +struct ConfigCmdData +{ + ConfigCmdType cmdType; // 命令类型 + char timestamp[32]; // 时间戳 + + union { + CameraConfigParam cameraParam; + ROIConfigParam roiParam; + AlgoConfigParam algoParam; + CalibConfigParam calibParam; + SwingConfigParam swingParam; + FullConfigParam fullConfigParam; + SwitchWorkPositionParam switchWorkPositionParam; + SwitchPackageTypeParam switchPackageTypeParam; + }; + + ConfigCmdData() : cmdType(CONFIG_CMD_UNKNOWN) + { + memset(timestamp, 0, sizeof(timestamp)); + } +}; + +// 共享内存通信协议 +struct ConfigCmdHeader +{ + char magic[8]; // 魔数 "VRCFG001" + int version; // 版本号 + int dataSize; // 数据大小 + int checksum; // 校验和 + bool hasNewData; // 是否有新数据 + + ConfigCmdHeader() + { + strcpy(magic, "VRCFG001"); + version = 1; + dataSize = sizeof(ConfigCmdData); + checksum = 0; + hasNewData = false; + } +}; + +// 完整的共享内存数据结构 +struct ConfigCmdSharedData +{ + ConfigCmdHeader header; + ConfigCmdData data; + + // 计算校验和 + int CalculateChecksum() const + { + int sum = 0; + const char* ptr = reinterpret_cast(&data); + for (size_t i = 0; i < sizeof(ConfigCmdData); ++i) { + sum += static_cast(ptr[i]); + } + return sum; + } + + // 验证校验和 + bool ValidateChecksum() const + { + return header.checksum == CalculateChecksum(); + } +}; + +// 共享内存名称定义 +#define CONFIG_CMD_SHARED_MEM_NAME "GrabBagConfigCmd" +#define CONFIG_CMD_SHARED_MEM_SIZE sizeof(ConfigCmdSharedData) + +// 命令行参数解析函数声明 +class ConfigCmdParser +{ +public: + // 解析命令行参数 + static bool ParseCommandLine(int argc, char* argv[], ConfigCmdData& configData); + + // 解析具体的配置命令 + static bool ParseCameraExpose(const std::string& param, ConfigCmdData& configData); + static bool ParseCameraGain(const std::string& param, ConfigCmdData& configData); + static bool ParseROISetting(const std::string& param, ConfigCmdData& configData); + static bool ParseAlgoParam(const std::string& param, ConfigCmdData& configData); + static bool ParseCalibParam(const std::string& param, ConfigCmdData& configData); + + // 显示帮助信息 + static void ShowHelp(); +}; + +#endif // VRCONFIGCMD_H \ No newline at end of file diff --git a/VrCommon/Inc/VrError.h b/VrCommon/Inc/VrError.h new file mode 100644 index 0000000..32d15b3 --- /dev/null +++ b/VrCommon/Inc/VrError.h @@ -0,0 +1,100 @@ +#pragma once +#include +#include + +enum ErrorCode +{ + SUCCESS = 0, + CLASS_OBJ_NULL = 1000, + FUN_UNSUPPORT, + + //功能执行失败 + APP_ERR_EXEC, + APP_ERR_ACK, + APP_ERR_PARAM, + + //相关加密内容 + ENCRYPT_SUCCESS = 0, + ENCRYPT_ERROR_BASE = 1050, + ENCRYPT_LOAD, + ENCRYPT_NOT_LOAD, + ENCRYPT_RELEASE, + ENCRYPT_NO_FUN, + ENCRYPT_ARG, + + //文件相关错误 + FILE_ERR_EXIST = 1100, + FILE_ERR_NOEXIST, + FILE_ERR_READ, + FILE_ERR_WRITE, + FILE_ERR_FORMAT, + FILE_ERR_DEL, + + //共享内存错误 + SHAREMEM_ERR_BASE = 1200, + SHAREMEM_ERR_PARAM, // 参数错误 + SHAREMEM_ERR_CREATE, // 创建失败 + SHAREMEM_ERR_ALREADY_EXIST, // 已存在 + SHAREMEM_ERR_NOT_EXIST, // 不存在 + SHAREMEM_ERR_SIZE, // 设置大小失败 + SHAREMEM_ERR_INFO, // 获取信息失败 + SHAREMEM_ERR_MUTEX, // 互斥锁失败 + SHAREMEM_ERR_NOT_MAPPED, // 未映射 + SHAREMEM_ERR_TIMEOUT, // 超时 + + //数据错误 + DATA_ERR_LEN = 1300, + DATA_ERR_INVALID, + DATA_ERR_MD5, + DATA_ERR_KEY, + DATA_ERR_RANGE, + DATA_ERR_MEM, + + //网络错误 + NET_SUCCESS = 0, + NET_ERR_CREAT_INIT = 1400, + NET_ERR_CREAT_BIND, + NET_ERR_CREAT_LISTEN, + NET_ERR_CONNECT, + NET_ERR_ACCEPT, + NET_ERR_IP_INVALID, + NET_ERR_NOTINIT, + NET_ERR_SEND_DATA, + NET_ERR_RECV_CMD, + NET_ERR_RECV_DATA, + NET_ERR_RECV_DATA_LACK, //1410 + NET_ERR_ARG, + NET_ERR_CONFIG, + NET_ERR_CONFIG_GET_IP, + NET_ERR_REMOVE_FD_FAILED, + NET_ERR_GET, + NET_DEV_NOT_FIND, + NET_DEV_NOT_RIGHT, + NET_DEV_CLIENT_LINK, + NET_DEV_CLIENT_SENDLEN, + NET_DEV_CLIENT_RECV, //1420 + + // 设备类型 + DEV_TYPE_ERR = 1500, + DEV_NOT_FIND, + DEV_NO_OPEN, + DEV_ID_ERR, + DEV_OPEN_ERR, + DEV_CLOSE_ERR, //1505 + DEV_CTRL_ERR, + DEV_SEND_ERR, + DEV_RECV_ERR, + DEV_CTRL_TIMEOUT, + DEV_UNSUPPORT, //1510 + DEV_ARG_INVAILD, + DEV_BUSY, + DEV_CONFIG_ERR, + DEV_DATA_INVALID, + DEV_RESULT_EMPTY, //1515 + DEV_UNACTIVATE, //未激活 +}; + +#define ERR_CODE(nCode) -std::abs((int)nCode) +#define ERR_CODE_RETURN(nCode) do{ if(SUCCESS != (nCode)) return ERR_CODE(nCode); }while(0) + +#define ERRCODE(nCode) -std::abs((int)nCode) diff --git a/VrCommon/Src/VrCommon.cpp b/VrCommon/Src/VrCommon.cpp new file mode 100644 index 0000000..e38a0ad --- /dev/null +++ b/VrCommon/Src/VrCommon.cpp @@ -0,0 +1 @@ +#include "VrCommon.h" \ No newline at end of file diff --git a/VrCommon/VrCommon.pro b/VrCommon/VrCommon.pro new file mode 100644 index 0000000..c1fbd83 --- /dev/null +++ b/VrCommon/VrCommon.pro @@ -0,0 +1,27 @@ +#CONFIG -= qt + +TEMPLATE = lib +CONFIG += staticlib +CONFIG += c++17 + +# You can make your code fail to compile if it uses deprecated APIs. +# In order to do so, uncomment the following line. +#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000 # disables all the APIs deprecated before Qt 6.0.0 + + +INCLUDEPATH += ./Inc + +SOURCES += \ + Src/VrCommon.cpp + +HEADERS += \ + Inc/VrCommon.h \ + Inc/VrConfigCmd.h \ + Inc/VrError.h + + +# Default rules for deployment. +unix { + target.path = /usr/lib +} +!isEmpty(target.path): INSTALLS += target diff --git a/VrUtils/CMakeLists.txt b/VrUtils/CMakeLists.txt new file mode 100644 index 0000000..c12f7ee --- /dev/null +++ b/VrUtils/CMakeLists.txt @@ -0,0 +1,31 @@ +ADD_DEFINITIONS(-D__OPENVMS__) #log4cpp 编译选项 +ADD_DEFINITIONS(-DVR_UTILS_EXPORTS) #VrUtils 导出宏定义 +# ADD_COMPILE_OPTIONS(-Wno-deprecated-declarations) #auto_ptr警告消除 + +# 设置CMake策略，允许AUTOMOC和AUTOUIC处理.hh文件 +# cmake_policy(SET CMP0100 NEW) + +INCLUDE_DIRECTORIES( + ./_Inc + ./Inc + ./MD5 + ./tinyxml2 + ./log4cpp/include +) + +AUX_SOURCE_DIRECTORY(./Src SrcS) +AUX_SOURCE_DIRECTORY(./MD5 MD5SrcS) +AUX_SOURCE_DIRECTORY(./tinyxml2 TinyxmlSrcS) +AUX_SOURCE_DIRECTORY(./log4cpp/src LogSrcS) + +# 对特定的.hh文件设置SKIP_AUTOGEN属性 +set_property(SOURCE log4cpp/src/StringUtil.hh PROPERTY SKIP_AUTOGEN ON) +set_property(SOURCE log4cpp/src/PortabilityImpl.hh PROPERTY SKIP_AUTOGEN ON) +set_property(SOURCE log4cpp/src/Properties.hh PROPERTY SKIP_AUTOGEN ON) +set_property(SOURCE log4cpp/src/Localtime.hh PROPERTY SKIP_AUTOGEN ON) +set_property(SOURCE log4cpp/src/PropertyConfiguratorImpl.hh PROPERTY SKIP_AUTOGEN ON) + +ADD_LIBRARY(VrUtils STATIC ${SrcS} ${MD5SrcS} + ${TinyxmlSrcS} + ${LogSrcS} + ) diff --git a/VrUtils/Inc/IVrUtils.h b/VrUtils/Inc/IVrUtils.h new file mode 100644 index 0000000..5f7a3f8 --- /dev/null +++ b/VrUtils/Inc/IVrUtils.h @@ -0,0 +1,63 @@ +#ifndef __IVRUILTS__H__ +#define __IVRUILTS__H__ +#include "VrDateUtils.h" +#include "VrFileUtils.h" +#include "VrTimeUtils.h" +#include "VrCodeFormatUtils.h" +#include "VrMD5Utils.h" +#include "VrStringUtils.h" +#include "VrNumUtils.h" +#include "VrLog.h" +#include "VrShellUtils.h" +#include "VrNetUtils.h" +#include "VrDebugTime.h" +#include "VrNTPUtils.h" +#include "../crc/checksum.h" +#include "../ini/SimpleIni.h" + +#ifndef M_PI +#define M_PI 3.14159265358979323846 +#endif + +// getopt只在Windows平台下包含，其他平台使用系统自带的getopt +#ifdef _WIN32 +#include "getopt.h" +#pragma comment(lib, "VrUtils.lib") +#pragma comment(lib, "Shell32.lib") // VrLog 需要 SHGetFolderPathA +#endif // _WIN32 + + +#define YEAR ((((__DATE__[7] - '0') * 10 + (__DATE__[8] - '0')) * 10 \ + + (__DATE__ [9] - '0')) * 10 + (__DATE__ [10] - '0')) + +#define MONTH (__DATE__ [2] == 'n' ? (__DATE__ [1] == 'a' ? 1 : 6) \ + : __DATE__ [2] == 'b' ? 2 \ + : __DATE__ [2] == 'r' ? (__DATE__ [0] == 'M' ? 3 : 4) \ + : __DATE__ [2] == 'y' ? 5 \ + : __DATE__ [2] == 'l' ? 7 \ + : __DATE__ [2] == 'g' ? 8 \ + : __DATE__ [2] == 'p' ? 9 \ + : __DATE__ [2] == 't' ? 10 \ + : __DATE__ [2] == 'v' ? 11 : 12) + +#define DAY ((__DATE__ [4] == ' ' ? 0 : __DATE__ [4] - '0') * 10 \ + + (__DATE__[5] - '0')) + + +#define HOUR ((__TIME__[0] - '0') * 10 + (__TIME__[1] - '0')) + +#define MINUTE ((__TIME__[3] - '0') * 10 + (__TIME__[4] - '0')) + +#define SECOND ((__TIME__[6] - '0') * 10 + (__TIME__[7] - '0')) + +#define BUILD_TIME (std::to_string(YEAR) + \ + (MONTH < 10 ? "0" : "") + std::to_string(MONTH) + \ + (DAY < 10 ? "0" : "") + std::to_string(DAY) + \ + (HOUR < 10 ? "0" : "") + std::to_string(HOUR) + \ + (MINUTE < 10 ? "0" : "") + std::to_string(MINUTE) + \ + (SECOND < 10 ? "0" : "") + std::to_string(SECOND)) + +#endif + + + diff --git a/VrUtils/Inc/VrAngleUtils.h b/VrUtils/Inc/VrAngleUtils.h new file mode 100644 index 0000000..04b71de --- /dev/null +++ b/VrUtils/Inc/VrAngleUtils.h @@ -0,0 +1,14 @@ +#pragma once +#include + +namespace CVrAngleRadianUtils +{ + /// 从角度转换成弧度 + double AngleToRadian(double angle); + + /// 从弧度转换成角度 + double RadianToAngle(double radian); + +}; + + diff --git a/VrUtils/Inc/VrCodeFormatUtils.h b/VrUtils/Inc/VrCodeFormatUtils.h new file mode 100644 index 0000000..b82eb18 --- /dev/null +++ b/VrUtils/Inc/VrCodeFormatUtils.h @@ -0,0 +1,25 @@ +#pragma once + +namespace CVrCodeFormatUtils +{ + //GB2312到UTF-8的转换 + int GB2312ToUtf8(const char* gb2312, char* utf8); + + //判断是否是utf8 + bool IsTextUTF8(const char* str, long length); + + //UTF-8到GB2312的转换 + int Utf8ToGB2312(const char* utf8, char* gb2312); + + //GB2312到Unicode的转换 + int GB2312ToUnicode(const char* gb2312, char* unicode); + + //Unicode到GB2312的转换 + int UnicodeToGB2312(const char* unicode, int size, char*gb2312); + + //UTF-8到Unicode的转换 + int Utf8ToUnicode(const char* utf8, char*unicode); + + //Unicode到UTF-8的转换 + int UnicodeToUtf8(const char* unicode, int size, char* utf8); +} diff --git a/VrUtils/Inc/VrDateUtils.h b/VrUtils/Inc/VrDateUtils.h new file mode 100644 index 0000000..95c68a9 --- /dev/null +++ b/VrUtils/Inc/VrDateUtils.h @@ -0,0 +1,22 @@ +#pragma once +#include +#include + +namespace CVrDateUtils +{ + /** + * 获取时间年月日时分秒 + */ + std::string GetNowTime(); + + /** + * 获取时间:年-月-日 时:分:秒 + */ + std::string GetStrNowTime(bool bYear = true); + + /** + * 获取微妙时间戳 + */ + unsigned long long GetTimestamp(); + +}; \ No newline at end of file diff --git a/VrUtils/Inc/VrDebugTime.h b/VrUtils/Inc/VrDebugTime.h new file mode 100644 index 0000000..48ff3e3 --- /dev/null +++ b/VrUtils/Inc/VrDebugTime.h @@ -0,0 +1,50 @@ +#pragma once +#include +#include +#include +#include +#include +#include + + +/// \brief +/// ʱ +class CVrDebugTimer +{ +public: + CVrDebugTimer(const char* szDesc) + : m_strFunName(szDesc) + { + m_tBegin = std::chrono::high_resolution_clock::now(); + m_tRecordTime = m_tBegin; + printf("===[%s Runtime]===\n", m_strFunName.c_str()); + } + + ~CVrDebugTimer() + { + std::chrono::high_resolution_clock::time_point tCur = std::chrono::high_resolution_clock::now(); + std::chrono::duration> duration_ms(tCur - m_tBegin); + + printf("===[%s Runtime %f ms]===\n", m_strFunName.c_str(), duration_ms.count()); + } + + void RecordTime(const char* szDesc) + { + std::chrono::high_resolution_clock::time_point tCur = std::chrono::high_resolution_clock::now(); + std::chrono::duration> duration_ms(tCur - m_tRecordTime); + m_tRecordTime = tCur; + + printf("===[%s Runtime %f ms]===\n", szDesc, duration_ms.count()); + } + +private: + std::string m_strFunName; + std::chrono::high_resolution_clock::time_point m_tBegin; + std::chrono::high_resolution_clock::time_point m_tRecordTime; +}; + + + +/// \brief +/// ӡʱ +#define VRDEBUG_PRINT_TIME(_desc) CVrDebugTimer oFuncDebugTime(_desc) diff --git a/VrUtils/Inc/VrFileUtils.h b/VrUtils/Inc/VrFileUtils.h new file mode 100644 index 0000000..1c80ebf --- /dev/null +++ b/VrUtils/Inc/VrFileUtils.h @@ -0,0 +1,44 @@ +#pragma once +#include +#include + +namespace CVrFileUtils +{ + /// 文件是否存在 + bool IsFileExist(const char* pFileName); + + /// 文件大小 + size_t GetFileSize(const char* fileName); + + /// 写文件 + bool WriteFileData(const char* pFileName, const char* pData, const size_t nLen, bool isAppend = false); + + /// 读文件 + bool ReadFileData(const char* pFileName, char* pData, size_t* pLen, const int nOffset = 0); + + /// 获取目录下所有的文件 + bool GetFileList(std::string& pDirPath, std::string exd, std::vector& vetFiles); + + /// 获取目录下所有目录 + bool GetDirList(std::string& pDirPath, std::vector& vetFiles); + + /// 文件重命名 + bool ReNameFile(const char* oldName, const char* newName); + + /// 删除文件 + bool DeleteLocalFile(const char* sFileName); + + /*******目录操作*******/ + /// 目录是否存在 + bool IsDirExist(const char* szDirectory); + + /// 创建新的文件夹 + bool CreatNewDir(const char* szPath); + + /// 删除目录 + bool DeleteDir(const char* szDirPath); + + /// 去除后缀获取文件名称 + std::string GetFileName(const std::string& filePath, bool bHasSuffix = true); + +} // namespace name diff --git a/VrUtils/Inc/VrLog.h b/VrUtils/Inc/VrLog.h new file mode 100644 index 0000000..83cf20f --- /dev/null +++ b/VrUtils/Inc/VrLog.h @@ -0,0 +1,87 @@ +#ifndef __VR_LOG__H_ +#define __VR_LOG__H_ + +#include +#include + +#ifdef _WIN32 +#pragma comment(lib, "Shell32.lib") // VrLog 需要 SHGetFolderPathA +#endif // _WIN32 + +#ifdef _WIN32 + #define VR_UTILS_API +#else + // Linux/Unixƽ̨ + #ifdef VR_UTILS_EXPORTS + #define VR_UTILS_API __attribute__((visibility("default"))) + #else + #define VR_UTILS_API __attribute__((visibility("default"))) + #endif +#endif + +#ifdef _WIN32 +// windows: +#define logfilename(x) strrchr(x,'\\')?strrchr(x,'\\')+1:x +#else +// linux: +#define logfilename(x) strrchr(x,'/')?strrchr(x,'/')+1:x +#endif // _WIN32 + + +#ifdef _WIN32 +#pragma comment(lib, "advapi32.lib") +#endif + +#define LOG_VERBOSE(...) VrLogUtils::EchoLog(KELOGLEVEL_Verbose, logfilename(__FILE__), __LINE__, "APPV", ##__VA_ARGS__) +#define LOG_DEBUG(...) VrLogUtils::EchoLog(KELOGLEVEL_Debug, logfilename(__FILE__), __LINE__, "APPD", ##__VA_ARGS__) +#define LOG_INFO(...) VrLogUtils::EchoLog(KELOGLEVEL_Info, logfilename(__FILE__), __LINE__, "APPI", ##__VA_ARGS__) +#define LOG_WARNING(...) VrLogUtils::EchoLog(KELOGLEVEL_Warning, logfilename(__FILE__), __LINE__, "APPW", ##__VA_ARGS__) +#define LOG_WARN(...) VrLogUtils::EchoLog(KELOGLEVEL_Warning, logfilename(__FILE__), __LINE__, "APPW", ##__VA_ARGS__) +#define LOG_ERROR(...) VrLogUtils::EchoLog(KELOGLEVEL_Error, logfilename(__FILE__), __LINE__, "APPE", ##__VA_ARGS__) +#define LOG_ERRO(...) VrLogUtils::EchoLog(KELOGLEVEL_Error, logfilename(__FILE__), __LINE__, "APPE", ##__VA_ARGS__) +#define LOG_ERR(...) VrLogUtils::EchoLog(KELOGLEVEL_Error, logfilename(__FILE__), __LINE__, "APPE", ##__VA_ARGS__) + +/// @brief +/// 日志等级 +enum VrLogLevel +{ + KELOGLEVEL_None = 0, + KELOGLEVEL_Verbose = 1, + KELOGLEVEL_Debug, + KELOGLEVEL_Info, + KELOGLEVEL_Warning, + KELOGLEVEL_Error, +}; + +enum VrLogType +{ + KELOGTYPE_None = 0, + KELOGTYPE_Console = 1, + KELOGTYPE_Log4Cpp = 1 << 1, + KELOGTYPE_All = 0xff, +}; + +namespace VrLogUtils +{ + /// 初始化log + VR_UTILS_API void InitLog(); + + /// 关闭log + VR_UTILS_API void UninitLog(); + + /// 开启/关闭时间戳 + VR_UTILS_API void EnableTime(bool bEnable); + + /// 输出log + VR_UTILS_API void EchoLog(VrLogLevel eLogLevel, const char* sFilePath, const int nLine, const char* sLogGroup, const char* sFormat, ...); + + /// 修改log level default info + VR_UTILS_API void AlterLogLevel(VrLogLevel eLogLevel); + + /// 修改log输出形式 默认都输出 + VR_UTILS_API void AlterLogType(VrLogType eLogType); + +}; + +#endif + diff --git a/VrUtils/Inc/VrMD5Utils.h b/VrUtils/Inc/VrMD5Utils.h new file mode 100644 index 0000000..1fff6d5 --- /dev/null +++ b/VrUtils/Inc/VrMD5Utils.h @@ -0,0 +1,7 @@ +#pragma once +#include + +namespace VrMD5Utils { + std::string GetMD5(const char* pData, const int nDataLen); + +} diff --git a/VrUtils/Inc/VrNTPUtils.h b/VrUtils/Inc/VrNTPUtils.h new file mode 100644 index 0000000..23e058c --- /dev/null +++ b/VrUtils/Inc/VrNTPUtils.h @@ -0,0 +1,50 @@ +#pragma once + +#ifdef _WIN32 +#include +#include +#endif // _WIN32 + + +class CrNTPUtils +{ +public: + CrNTPUtils(); + ~CrNTPUtils(); + + +#ifndef _WIN32 +public: + struct SYSTEMTIME + { + int wYear; + int wMonth; + int wDayOfWeek; + int wDay; + int wHour; + int wMinute; + int wSecond; + int wMilliseconds; + }; +#endif + + + /// ʼNTPClient + bool InitNTPClient(char* sIP = nullptr, int nPort = 123); + + /// ˳NTPClient + bool ExitNTPClient(); + + ///ȡʱ + bool GetSystemTime(SYSTEMTIME& newtime); + +private: + bool _UpdateDate(); + +private: + char m_sIP[16]; + bool m_bValidIP; + int m_nPort; + +}; + diff --git a/VrUtils/Inc/VrNetUtils.h b/VrUtils/Inc/VrNetUtils.h new file mode 100644 index 0000000..3a23736 --- /dev/null +++ b/VrUtils/Inc/VrNetUtils.h @@ -0,0 +1,68 @@ +#pragma once +#include +#include +#include +#include + +#define IPV4_CHAR_LENGTH 22 +#define MAC_CHAR_LENGTH 18 +#define NAME_MAXPATH 256 + +/// 网络信息 +typedef struct +{ + unsigned int nAdapterIndex; + char szNetCardName[NAME_MAXPATH]; //< + unsigned char byLocalIP[4]; + unsigned char byMacAddress[6]; + unsigned char bySubMask[4]; + unsigned char byGetWay[4]; + unsigned char byBroadCastIP[4]; +} SVrCardInfo; + +std::ostream& operator<<(std::ostream& os, const SVrCardInfo& sAction); + +namespace CVrNetUtils +{ + /// 获取所有设备 + bool QueryAllNetworkInfo(std::list& lstNetCardInfo); + + /// ip是否有效 + bool IsValidIP(const char szIPv4[IPV4_CHAR_LENGTH]); + + bool SetAddrMaskGateWay(const char *ifname, const char *Ipaddr, const char *mask, const char *gateway); + + /// 设置IP + bool SetIPv4Address(const char ip[IPV4_CHAR_LENGTH], const char *devName); + + /// 获取IP + bool GetIPv4Address(char ip[IPV4_CHAR_LENGTH], const char *devName); + + /// 设置网关； + bool SetIPv4NetMask(const char ip[IPV4_CHAR_LENGTH], const char *devName); + + /// 获取子网掩码 + bool GetIPv4NetMask(char ip[IPV4_CHAR_LENGTH], const char *devName); + + /// 获取广播地址 + bool GetIPv4BroadIP(char ip[IPV4_CHAR_LENGTH], const char *devName); + + /// 获取网卡地址 + bool GetLocalMAC(char byMac[MAC_CHAR_LENGTH], const char *devName); + + /// 设置网关 + bool SetGateWay(const char ip[IPV4_CHAR_LENGTH], const char *devName); + + /// 获取网关 + bool GetGateWay(char ip[IPV4_CHAR_LENGTH], const char *devName); + + /// 将IP字符串转为Byte + bool IPString2Byte(const char* szIP, unsigned char byIP[4]); + + /// 将IP的Byte转为字符串 + void IPByte2String(const unsigned char byIP[4], char szIP[IPV4_CHAR_LENGTH]); + + /// 计算广播地址 + void CalcBroadCastIP(unsigned char byIP[4], unsigned char byMask[4], unsigned char byBroadCast[4]); + +} diff --git a/VrUtils/Inc/VrNumUtils.h b/VrUtils/Inc/VrNumUtils.h new file mode 100644 index 0000000..f5cfb96 --- /dev/null +++ b/VrUtils/Inc/VrNumUtils.h @@ -0,0 +1,10 @@ +#pragma once + +namespace CVrNumUtils +{ + // С˷ת + short NumFlip(short nData); + + // С˷ת + float NumFlipFloat(float fData); +}; \ No newline at end of file diff --git a/VrUtils/Inc/VrShellUtils.h b/VrUtils/Inc/VrShellUtils.h new file mode 100644 index 0000000..8f925da --- /dev/null +++ b/VrUtils/Inc/VrShellUtils.h @@ -0,0 +1,6 @@ +#pragma once + +namespace CVrShellUtils +{ + int ExecuCMD(const char *data); +}; \ No newline at end of file diff --git a/VrUtils/Inc/VrStringUtils.h b/VrUtils/Inc/VrStringUtils.h new file mode 100644 index 0000000..b137b5a --- /dev/null +++ b/VrUtils/Inc/VrStringUtils.h @@ -0,0 +1,23 @@ +#pragma once +#include +#include + +namespace CVrStringUtils +{ + /// תַ + std::string Int2Str(int nNum); + std::string Int2HexStr(int nNum); + std::string Int2str(long num); + std::string Int2Str(unsigned int nNum); + std::string Int2Str(unsigned long long nNum); + + /// ַָ + std::vector SplitString(std::string srcStr, std::string delimStr, bool repeatedCharIgnored); + + /// Сдת + int StringUpper(char *sData, int nLen); + int StringLower(char *sData, int nLen); + + /// 滻ַ + void ReplaceString(std::string& source, const std::string& to_replace, const std::string& replacement); +}; \ No newline at end of file diff --git a/VrUtils/Inc/VrTimeUtils.h b/VrUtils/Inc/VrTimeUtils.h new file mode 100644 index 0000000..362b0d6 --- /dev/null +++ b/VrUtils/Inc/VrTimeUtils.h @@ -0,0 +1,32 @@ +#pragma once + +#include + +class CVrTimeUtils +{ +public: + CVrTimeUtils(); + ~CVrTimeUtils(); + + ///更新时间 + void Update(); + + /** + * 获取当前秒 + */ + double GetElapsedSecond(); + + /** + * 获取毫秒 + */ + double GetElapsedTimeInMilliSec(); + + /** + * 获取微妙 + */ + long long GetElapsedTimeInMicroSec(); + +private: + std::chrono::time_point m_begin; + +}; diff --git a/VrUtils/Inc/getopt.h b/VrUtils/Inc/getopt.h new file mode 100644 index 0000000..4cefc3f --- /dev/null +++ b/VrUtils/Inc/getopt.h @@ -0,0 +1,133 @@ +/* Declarations for getopt. + Copyright (C) 1989, 1990, 1991, 1992, 1993 Free Software Foundation, Inc. + + This program 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, or (at your option) any + later version. + + This program 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 this program; if not, write to the Free Software + Foundation, 675 Mass Ave, Cambridge, MA 02139, USA. */ + +// ֻWindowsƽ̨ṩԶgetoptʵ֣ƽ̨ʹϵͳԴ +#ifdef _WIN32 + +#ifndef _GETOPT_H +#define _GETOPT_H 1 + +#ifdef __cplusplus +extern "C" { +#endif + +/* For communication from `getopt' to the caller. + When `getopt' finds an option that takes an argument, + the argument value is returned here. + Also, when `ordering' is RETURN_IN_ORDER, + each non-option ARGV-element is returned here. */ + +extern char *optarg; + +/* Index in ARGV of the next element to be scanned. + This is used for communication to and from the caller + and for communication between successive calls to `getopt'. + + On entry to `getopt', zero means this is the first call; initialize. + + When `getopt' returns EOF, this is the index of the first of the + non-option elements that the caller should itself scan. + + Otherwise, `optind' communicates from one call to the next + how much of ARGV has been scanned so far. */ + +extern int optind; + +/* Callers store zero here to inhibit the error message `getopt' prints + for unrecognized options. */ + +extern int opterr; + +/* Set to an option character which was unrecognized. */ + +extern int optopt; + +/* Describe the long-named options requested by the application. + The LONG_OPTIONS argument to getopt_long or getopt_long_only is a vector + of `struct option' terminated by an element containing a name which is + zero. + + The field `has_arg' is: + no_argument (or 0) if the option does not take an argument, + required_argument (or 1) if the option requires an argument, + optional_argument (or 2) if the option takes an optional argument. + + If the field `flag' is not NULL, it points to a variable that is set + to the value given in the field `val' when the option is found, but + left unchanged if the option is not found. + + To have a long-named option do something other than set an `int' to + a compiled-in constant, such as set a value from `optarg', set the + option's `flag' field to zero and its `val' field to a nonzero + value (the equivalent single-letter option character, if there is + one). For long options that have a zero `flag' field, `getopt' + returns the contents of the `val' field. */ + +struct option +{ +#if __STDC__ + const char *name; +#else + char *name; +#endif + /* has_arg can't be an enum because some compilers complain about + type mismatches in all the code that assumes it is an int. */ + int has_arg; + int *flag; + int val; +}; + +/* Names for the values of the `has_arg' field of `struct option'. */ + +#define no_argument 0 +#define required_argument 1 +#define optional_argument 2 + +//#if __STDC__ || defined(PROTO) +//#if defined(__GNU_LIBRARY__) +/* Many other libraries have conflicting prototypes for getopt, with + differences in the consts, in stdlib.h. To avoid compilation + errors, only prototype getopt for the GNU C library. */ +extern int getopt (int argc, char *const *argv, const char *shortopts); +//#endif /* not __GNU_LIBRARY__ */ +extern int getopt_long (int argc, char *const *argv, const char *shortopts, + const struct option *longopts, int *longind); +extern int getopt_long_only (int argc, char *const *argv, + const char *shortopts, + const struct option *longopts, int *longind); + +/* Internal only. Users should not call this directly. */ +/* extern int _getopt_internal (int argc, char *const *argv, + const char *shortopts, + const struct option *longopts, int *longind, + int long_only); */ +//#else /* not __STDC__ */ +//extern int getopt (); +//extern int getopt_long (); +//extern int getopt_long_only (); + +//extern int _getopt_internal (); +//#endif /* not __STDC__ */ + +#ifdef __cplusplus +} +#endif + +#endif /* _GETOPT_H */ + +#endif /* _WIN32 */ + diff --git a/VrUtils/MD5/md5.cpp b/VrUtils/MD5/md5.cpp new file mode 100644 index 0000000..565bd5d --- /dev/null +++ b/VrUtils/MD5/md5.cpp @@ -0,0 +1,287 @@ +/** + * @file md5.cpp + * @The implement of md5. + * @author Jiewei Wei + * @mail weijieweijerry@163.com + * @github https://github.com/JieweiWei + * @data Oct 19 2014 + * + */ + +#include "md5.h" + +/* Define the static member of MD5. */ +const byte MD5::PADDING[64] = { 0x80 }; +const char MD5::HEX_NUMBERS[16] = { + '0', '1', '2', '3', + '4', '5', '6', '7', + '8', '9', 'a', 'b', + 'c', 'd', 'e', 'f' +}; + +/** + * @Construct a MD5 object with a string. + * + * @param {message} the message will be transformed. + * + */ +MD5::MD5(const string& message) { + finished = false; + /* Reset number of bits. */ + count[0] = count[1] = 0; + /* Initialization constants. */ + state[0] = 0x67452301; + state[1] = 0xefcdab89; + state[2] = 0x98badcfe; + state[3] = 0x10325476; + + /* Initialization the object according to message. */ + init((const byte*)message.c_str(), message.length()); +} + +MD5::MD5(const byte* input, size_t len) +{ + finished = false; + /* Reset number of bits. */ + count[0] = count[1] = 0; + /* Initialization constants. */ + state[0] = 0x67452301; + state[1] = 0xefcdab89; + state[2] = 0x98badcfe; + state[3] = 0x10325476; + + /* Initialization the object according to message. */ + init(input, len); +} + +/** + * @Generate md5 digest. + * + * @return the message-digest. + * + */ +const byte* MD5::getDigest() { + if (!finished) { + finished = true; + + byte bits[8]; + bit32 oldState[4]; + bit32 oldCount[2]; + bit32 index, padLen; + + /* Save current state and count. */ + memcpy(oldState, state, 16); + memcpy(oldCount, count, 8); + + /* Save number of bits */ + encode(count, bits, 8); + + /* Pad out to 56 mod 64. */ + index = (bit32)((count[0] >> 3) & 0x3f); + padLen = (index < 56) ? (56 - index) : (120 - index); + init(PADDING, padLen); + + /* Append length (before padding) */ + init(bits, 8); + + /* Store state in digest */ + encode(state, digest, 16); + + /* Restore current state and count. */ + memcpy(state, oldState, 16); + memcpy(count, oldCount, 8); + } + return digest; +} + +/** + * @Initialization the md5 object, processing another message block, + * and updating the context. + * + * @param {input} the input message. + * + * @param {len} the number btye of message. + * + */ +void MD5::init(const byte* input, size_t len) { + + bit32 i, index, partLen; + + finished = false; + + /* Compute number of bytes mod 64 */ + index = (bit32)((count[0] >> 3) & 0x3f); + + /* update number of bits */ + if ((count[0] += ((bit32)len << 3)) < ((bit32)len << 3)) { + ++count[1]; + } + count[1] += ((bit32)len >> 29); + + partLen = 64 - index; + + /* transform as many times as possible. */ + if (len >= partLen) { + + memcpy(&buffer[index], input, partLen); + transform(buffer); + + for (i = partLen; i + 63 < len; i += 64) { + transform(&input[i]); + } + index = 0; + + } else { + i = 0; + } + + /* Buffer remaining input */ + memcpy(&buffer[index], &input[i], len - i); +} + +/** + * @MD5 basic transformation. Transforms state based on block. + * + * @param {block} the message block. + */ +void MD5::transform(const byte block[64]) { + + bit32 a = state[0], b = state[1], c = state[2], d = state[3], x[16]; + + decode(block, x, 64); + + /* Round 1 */ + FF (a, b, c, d, x[ 0], s11, 0xd76aa478); + FF (d, a, b, c, x[ 1], s12, 0xe8c7b756); + FF (c, d, a, b, x[ 2], s13, 0x242070db); + FF (b, c, d, a, x[ 3], s14, 0xc1bdceee); + FF (a, b, c, d, x[ 4], s11, 0xf57c0faf); + FF (d, a, b, c, x[ 5], s12, 0x4787c62a); + FF (c, d, a, b, x[ 6], s13, 0xa8304613); + FF (b, c, d, a, x[ 7], s14, 0xfd469501); + FF (a, b, c, d, x[ 8], s11, 0x698098d8); + FF (d, a, b, c, x[ 9], s12, 0x8b44f7af); + FF (c, d, a, b, x[10], s13, 0xffff5bb1); + FF (b, c, d, a, x[11], s14, 0x895cd7be); + FF (a, b, c, d, x[12], s11, 0x6b901122); + FF (d, a, b, c, x[13], s12, 0xfd987193); + FF (c, d, a, b, x[14], s13, 0xa679438e); + FF (b, c, d, a, x[15], s14, 0x49b40821); + + /* Round 2 */ + GG (a, b, c, d, x[ 1], s21, 0xf61e2562); + GG (d, a, b, c, x[ 6], s22, 0xc040b340); + GG (c, d, a, b, x[11], s23, 0x265e5a51); + GG (b, c, d, a, x[ 0], s24, 0xe9b6c7aa); + GG (a, b, c, d, x[ 5], s21, 0xd62f105d); + GG (d, a, b, c, x[10], s22, 0x2441453); + GG (c, d, a, b, x[15], s23, 0xd8a1e681); + GG (b, c, d, a, x[ 4], s24, 0xe7d3fbc8); + GG (a, b, c, d, x[ 9], s21, 0x21e1cde6); + GG (d, a, b, c, x[14], s22, 0xc33707d6); + GG (c, d, a, b, x[ 3], s23, 0xf4d50d87); + GG (b, c, d, a, x[ 8], s24, 0x455a14ed); + GG (a, b, c, d, x[13], s21, 0xa9e3e905); + GG (d, a, b, c, x[ 2], s22, 0xfcefa3f8); + GG (c, d, a, b, x[ 7], s23, 0x676f02d9); + GG (b, c, d, a, x[12], s24, 0x8d2a4c8a); + + /* Round 3 */ + HH (a, b, c, d, x[ 5], s31, 0xfffa3942); + HH (d, a, b, c, x[ 8], s32, 0x8771f681); + HH (c, d, a, b, x[11], s33, 0x6d9d6122); + HH (b, c, d, a, x[14], s34, 0xfde5380c); + HH (a, b, c, d, x[ 1], s31, 0xa4beea44); + HH (d, a, b, c, x[ 4], s32, 0x4bdecfa9); + HH (c, d, a, b, x[ 7], s33, 0xf6bb4b60); + HH (b, c, d, a, x[10], s34, 0xbebfbc70); + HH (a, b, c, d, x[13], s31, 0x289b7ec6); + HH (d, a, b, c, x[ 0], s32, 0xeaa127fa); + HH (c, d, a, b, x[ 3], s33, 0xd4ef3085); + HH (b, c, d, a, x[ 6], s34, 0x4881d05); + HH (a, b, c, d, x[ 9], s31, 0xd9d4d039); + HH (d, a, b, c, x[12], s32, 0xe6db99e5); + HH (c, d, a, b, x[15], s33, 0x1fa27cf8); + HH (b, c, d, a, x[ 2], s34, 0xc4ac5665); + + /* Round 4 */ + II (a, b, c, d, x[ 0], s41, 0xf4292244); + II (d, a, b, c, x[ 7], s42, 0x432aff97); + II (c, d, a, b, x[14], s43, 0xab9423a7); + II (b, c, d, a, x[ 5], s44, 0xfc93a039); + II (a, b, c, d, x[12], s41, 0x655b59c3); + II (d, a, b, c, x[ 3], s42, 0x8f0ccc92); + II (c, d, a, b, x[10], s43, 0xffeff47d); + II (b, c, d, a, x[ 1], s44, 0x85845dd1); + II (a, b, c, d, x[ 8], s41, 0x6fa87e4f); + II (d, a, b, c, x[15], s42, 0xfe2ce6e0); + II (c, d, a, b, x[ 6], s43, 0xa3014314); + II (b, c, d, a, x[13], s44, 0x4e0811a1); + II (a, b, c, d, x[ 4], s41, 0xf7537e82); + II (d, a, b, c, x[11], s42, 0xbd3af235); + II (c, d, a, b, x[ 2], s43, 0x2ad7d2bb); + II (b, c, d, a, x[ 9], s44, 0xeb86d391); + + state[0] += a; + state[1] += b; + state[2] += c; + state[3] += d; +} + +/** +* @Encodes input (unsigned long) into output (byte). +* +* @param {input} usigned long. +* +* @param {output} byte. +* +* @param {length} the length of input. +* +*/ +void MD5::encode(const bit32* input, byte* output, size_t length) { + + for (size_t i = 0, j = 0; j < length; ++i, j += 4) { + output[j]= (byte)(input[i] & 0xff); + output[j + 1] = (byte)((input[i] >> 8) & 0xff); + output[j + 2] = (byte)((input[i] >> 16) & 0xff); + output[j + 3] = (byte)((input[i] >> 24) & 0xff); + } +} + +/** + * @Decodes input (byte) into output (usigned long). + * + * @param {input} bytes. + * + * @param {output} unsigned long. + * + * @param {length} the length of input. + * + */ +void MD5::decode(const byte* input, bit32* output, size_t length) { + for (size_t i = 0, j = 0; j < length; ++i, j += 4) { + output[i] = ((bit32)input[j]) | (((bit32)input[j + 1]) << 8) | + (((bit32)input[j + 2]) << 16) | (((bit32)input[j + 3]) << 24); + } +} + + +/** + * @Convert digest to string value. + * + * @return the hex string of digest. + * + */ +string MD5::toStr() { + const byte* digest_ = getDigest(); + string str; + str.reserve(16 << 1); + for (size_t i = 0; i < 16; ++i) { + int t = digest_[i]; + int a = t / 16; + int b = t % 16; + str.append(1, HEX_NUMBERS[a]); + str.append(1, HEX_NUMBERS[b]); + } + return str; +} diff --git a/VrUtils/MD5/md5.h b/VrUtils/MD5/md5.h new file mode 100644 index 0000000..3b0ebb5 --- /dev/null +++ b/VrUtils/MD5/md5.h @@ -0,0 +1,138 @@ +/** + * @file md5.h + * @The header file of md5. + * @author Jiewei Wei + * @mail weijieweijerry@163.com + * @github https://github.com/JieweiWei + * @data Oct 19 2014 + * + */ + +#ifndef MD5_H +#define MD5_H + +/* Parameters of MD5. */ +#define s11 7 +#define s12 12 +#define s13 17 +#define s14 22 +#define s21 5 +#define s22 9 +#define s23 14 +#define s24 20 +#define s31 4 +#define s32 11 +#define s33 16 +#define s34 23 +#define s41 6 +#define s42 10 +#define s43 15 +#define s44 21 + +/** + * @Basic MD5 functions. + * + * @param there bit32. + * + * @return one bit32. + */ +#define F(x, y, z) (((x) & (y)) | ((~x) & (z))) +#define G(x, y, z) (((x) & (z)) | ((y) & (~z))) +#define H(x, y, z) ((x) ^ (y) ^ (z)) +#define I(x, y, z) ((y) ^ ((x) | (~z))) + +/** + * @Rotate Left. + * + * @param {num} the raw number. + * + * @param {n} rotate left n. + * + * @return the number after rotated left. + */ +#define ROTATELEFT(num, n) (((num) << (n)) | ((num) >> (32-(n)))) + +/** + * @Transformations for rounds 1, 2, 3, and 4. + */ +#define FF(a, b, c, d, x, s, ac) { \ + (a) += F ((b), (c), (d)) + (x) + ac; \ + (a) = ROTATELEFT ((a), (s)); \ + (a) += (b); \ +} +#define GG(a, b, c, d, x, s, ac) { \ + (a) += G ((b), (c), (d)) + (x) + ac; \ + (a) = ROTATELEFT ((a), (s)); \ + (a) += (b); \ +} +#define HH(a, b, c, d, x, s, ac) { \ + (a) += H ((b), (c), (d)) + (x) + ac; \ + (a) = ROTATELEFT ((a), (s)); \ + (a) += (b); \ +} +#define II(a, b, c, d, x, s, ac) { \ + (a) += I ((b), (c), (d)) + (x) + ac; \ + (a) = ROTATELEFT ((a), (s)); \ + (a) += (b); \ +} + +#include +#include + +using std::string; + +/* Define of btye.*/ +typedef unsigned char byte; +/* Define of byte. */ +typedef unsigned int bit32; + +class MD5 { +public: + /* Construct a MD5 object with a string. */ + MD5(const string& message); + MD5(const byte* input, size_t len); + + /* Generate md5 digest. */ + const byte* getDigest(); + + /* Convert digest to string value */ + string toStr(); + +private: + /* Initialization the md5 object, processing another message block, + * and updating the context.*/ + void init(const byte* input, size_t len); + + /* MD5 basic transformation. Transforms state based on block. */ + void transform(const byte block[64]); + + /* Encodes input (usigned long) into output (byte). */ + void encode(const bit32* input, byte* output, size_t length); + + /* Decodes input (byte) into output (usigned long). */ + void decode(const byte* input, bit32* output, size_t length); + +private: + /* Flag for mark whether calculate finished. */ + bool finished; + + /* state (ABCD). */ + bit32 state[4]; + + /* number of bits, low-order word first. */ + bit32 count[2]; + + /* input buffer. */ + byte buffer[64]; + + /* message digest. */ + byte digest[16]; + + /* padding for calculate. */ + static const byte PADDING[64]; + + /* Hex numbers. */ + static const char HEX_NUMBERS[16]; +}; + +#endif // MD5_H diff --git a/VrUtils/Src/VrAngleUtils.cpp b/VrUtils/Src/VrAngleUtils.cpp new file mode 100644 index 0000000..75d8a8a --- /dev/null +++ b/VrUtils/Src/VrAngleUtils.cpp @@ -0,0 +1,16 @@ +#include "VrAngleUtils.h" +#include +#include + +#define PI 3.1415926 + +/// 从角度转换成弧度 +double CVrAngleRadianUtils::AngleToRadian(double angle){ + return angle * PI / 180.f; +} + + +/// 从弧度转换成角度 +double CVrAngleRadianUtils::RadianToAngle(double radian){ + return radian * 180.f / PI; +} \ No newline at end of file diff --git a/VrUtils/Src/VrCodeFormatUtils.cpp b/VrUtils/Src/VrCodeFormatUtils.cpp new file mode 100644 index 0000000..b64b69c --- /dev/null +++ b/VrUtils/Src/VrCodeFormatUtils.cpp @@ -0,0 +1,161 @@ +#include "VrCodeFormatUtils.h" +#ifdef _WIN32 +#include "windows.h" +#endif +//GB2312UTF-8ת +int CVrCodeFormatUtils::GB2312ToUtf8(const char* gb2312, char* utf8) +{ + int len = 0; +#ifdef _WIN32 + len = MultiByteToWideChar(CP_ACP, 0, gb2312, -1, NULL, 0); + wchar_t* wstr = new wchar_t[len + 1]; + memset(wstr, 0, len + 1); + MultiByteToWideChar(CP_ACP, 0, gb2312, -1, wstr, len); + len = WideCharToMultiByte(CP_UTF8, 0, wstr, -1, NULL, 0, NULL, NULL); + WideCharToMultiByte(CP_UTF8, 0, wstr, -1, utf8, len, NULL, NULL); + if (wstr) delete[] wstr; +#endif + return len; +} + +//жǷutf8 +bool CVrCodeFormatUtils::IsTextUTF8(const char* str, long length) +{ + unsigned char chr; + + int nBytes = 0; // UFT81-6ֽڱ,ASCIIһֽ + bool bAllAscii = true; // ȫASCII, ˵UTF-8 + + for (int i = 0; i < length; i++) + { + chr = *(str + i); + + if ((chr & 0x80) != 0) // жǷASCII,,˵пUTF-8, ASCII7λ,һֽڴ,λΪ0,o0xxxxxxx + { + bAllAscii = false; + } + + if (nBytes == 0) // ASCII,ӦǶֽڷ,ֽ + { + if (chr >= 0x80) + { + if (chr >= 0xFC && chr <= 0xFD) + nBytes = 6; + else if (chr >= 0xF8) + nBytes = 5; + else if (chr >= 0xF0) + nBytes = 4; + else if (chr >= 0xE0) + nBytes = 3; + else if (chr >= 0xC0) + nBytes = 2; + else + return false; + + nBytes--; + } + } + else // every char of ascii buffer looks like 10xxxxxx, except the first char + { + if ((chr & 0xC0) != 0x80) + { + return false; + } + nBytes--; + } + } + + if (nBytes > 0) // format error + { + return false; + } + + if (bAllAscii) // if all chars are ascii, the buffer is not utf-8 + { + return false; + } + + return true; +} + + +//UTF-8GB2312ת +int CVrCodeFormatUtils::Utf8ToGB2312(const char* utf8, char* gb2312) +{ + int len = 0; +#ifdef _WIN32 + len = MultiByteToWideChar(CP_UTF8, 0, utf8, -1, NULL, 0); + wchar_t* wstr = new wchar_t[len + 1]; + memset(wstr, 0, len + 1); + MultiByteToWideChar(CP_UTF8, 0, utf8, -1, wstr, len); + len = WideCharToMultiByte(CP_ACP, 0, wstr, -1, NULL, 0, NULL, NULL); + WideCharToMultiByte(CP_ACP, 0, wstr, -1, gb2312, len, NULL, NULL); + if (wstr) delete[] wstr; +#endif + return len; +} + + +//GB2312Unicodeת +int CVrCodeFormatUtils::GB2312ToUnicode(const char* gb2312, char* unicode) +{ + int len = 0; +#ifdef _WIN32 + UINT nCodePage = 936; //GB2312 + len = MultiByteToWideChar(nCodePage, 0, gb2312, -1, NULL, 0); + wchar_t* wstr = new wchar_t[len + 1]; + memset(wstr, 0, len + 1); + MultiByteToWideChar(nCodePage, 0, gb2312, -1, wstr, len); + len = len * sizeof(wchar_t); + memcpy(unicode, wstr, len); + if (wstr) delete[] wstr; +#endif + return len; +} + + +//UnicodeGB2312ת +int CVrCodeFormatUtils::UnicodeToGB2312(const char* unicode, int size, char*gb2312) +{ + int len = 0; +#ifdef _WIN32 + UINT nCodePage = 936; //GB2312 + wchar_t* wstr = new wchar_t[size / 2 + 1]; + memcpy(wstr, unicode, size); + len = WideCharToMultiByte(nCodePage, 0, wstr, -1, NULL, 0, NULL, NULL); + WideCharToMultiByte(nCodePage, 0, wstr, -1, gb2312, len, NULL, NULL); + if (wstr) delete[] wstr; +#endif + return len; +} + + +//UTF-8Unicodeת +int CVrCodeFormatUtils::Utf8ToUnicode(const char* utf8, char*unicode) +{ + int len = 0; +#ifdef _WIN32 + MultiByteToWideChar(CP_UTF8, 0, utf8, -1, NULL, 0); + wchar_t* wstr = new wchar_t[len + 1]; + memset(wstr, 0, len + 1); + MultiByteToWideChar(CP_UTF8, 0, utf8, -1, wstr, len); + memcpy(unicode, wstr, len); + if (wstr) delete[] wstr; +#endif + return len; +} + + +//UnicodeUTF-8ת +int CVrCodeFormatUtils::UnicodeToUtf8(const char* unicode, int size, char* utf8) +{ + int len = 0; +#ifdef _WIN32 + wchar_t* wstr = new wchar_t[size / 2 + 1]; + memcpy(wstr, unicode, size); + len = WideCharToMultiByte(CP_UTF8, 0, wstr, -1, NULL, 0, NULL, NULL); + WideCharToMultiByte(CP_UTF8, 0, wstr, -1, utf8, len, NULL, NULL); + if (wstr) delete[] wstr; +#endif + return len; +} \ No newline at end of file diff --git a/VrUtils/Src/VrDateUtils.cpp b/VrUtils/Src/VrDateUtils.cpp new file mode 100644 index 0000000..cac93f8 --- /dev/null +++ b/VrUtils/Src/VrDateUtils.cpp @@ -0,0 +1,72 @@ +#include "VrDateUtils.h" + +/** +* 获取时间年月日时分秒 +*/ +std::string CVrDateUtils::GetNowTime() +{ + time_t tt = std::chrono::system_clock::to_time_t(std::chrono::system_clock::now()); +#ifdef _WIN32 + struct tm ptminfo; + localtime_s(&ptminfo, &tt); +#else + struct tm ptminfo = *(localtime(&tt)); +#endif + //printf("current: %02d-%02d-%02d %02d:%02d:%02d\n", + // ptminfo.tm_year + 1900, ptminfo.tm_mon + 1, ptminfo.tm_mday, + // ptminfo.tm_hour, ptminfo.tm_min, ptminfo.tm_sec); + char date[60] = { 0 }; +#ifdef _WIN32 + sprintf_s(date, "%02d%02d%02d%02d%02d%02d", ptminfo.tm_year + 1900, \ + ptminfo.tm_mon + 1, ptminfo.tm_mday, ptminfo.tm_hour, ptminfo.tm_min, ptminfo.tm_sec); +#else + sprintf(date, "%02d%02d%02d%02d%02d%02d", ptminfo.tm_year + 1900, \ + ptminfo.tm_mon + 1, ptminfo.tm_mday, ptminfo.tm_hour, ptminfo.tm_min, ptminfo.tm_sec); +#endif + return std::string(date); +} + +/** +* 获取时间:年-月-日 时:分:秒 +*/ +std::string CVrDateUtils::GetStrNowTime(bool bYear) +{ + time_t tt = std::chrono::system_clock::to_time_t(std::chrono::system_clock::now()); +#ifdef _WIN32 + struct tm ptminfo; + localtime_s(&ptminfo, &tt); +#else + struct tm ptminfo = *(localtime(&tt)); +#endif + char date[60] = { 0 }; +#ifdef _WIN32 + if (bYear) + { + sprintf_s(date, "%04d-%02d-%02d %02d:%02d:%02d", ptminfo.tm_year + 1900, \ + ptminfo.tm_mon + 1, ptminfo.tm_mday, ptminfo.tm_hour, ptminfo.tm_min, ptminfo.tm_sec); + } + else + { + sprintf_s(date, "%02d-%02d %02d:%02d:%02d", ptminfo.tm_mon + 1, ptminfo.tm_mday, ptminfo.tm_hour, ptminfo.tm_min, ptminfo.tm_sec); + } +#else + if (bYear) + { + sprintf(date, "%04d-%02d-%02d %02d:%02d:%02d", ptminfo.tm_year + 1900, \ + ptminfo.tm_mon + 1, ptminfo.tm_mday, ptminfo.tm_hour, ptminfo.tm_min, ptminfo.tm_sec); + } + else + { + sprintf(date, "%02d-%02d %02d:%02d:%02d", ptminfo.tm_mon + 1, ptminfo.tm_mday, ptminfo.tm_hour, ptminfo.tm_min, ptminfo.tm_sec); + } +#endif + return std::string(date); +} + +/** +* 获取微妙时间戳 +*/ +unsigned long long CVrDateUtils::GetTimestamp() +{ + return std::chrono::duration_cast(std::chrono::system_clock::now().time_since_epoch()).count(); +} diff --git a/VrUtils/Src/VrFileUtils.cpp b/VrUtils/Src/VrFileUtils.cpp new file mode 100644 index 0000000..137fa49 --- /dev/null +++ b/VrUtils/Src/VrFileUtils.cpp @@ -0,0 +1,275 @@ +#include "VrFileUtils.h" +#include +#include +#include +#include +#include +#include +#include +#include + +#ifdef _WIN32 +#include +#include +#include +#else +#include +#endif + +bool CVrFileUtils::IsFileExist(const char* pFileName) +{ + std::ifstream in(pFileName); + return in.good(); +} + +size_t CVrFileUtils::GetFileSize(const char* fileName) +{ + std::ifstream in(fileName); + in.seekg(0, std::ios::end); + size_t size = in.tellg(); + in.close(); + return (int)size; +} + +bool CVrFileUtils::WriteFileData(const char* pFileName, const char* pData, const size_t nLen, bool isAppend) +{ + if(!pFileName || !pData) + return false; + + bool bRet = false; + std::ofstream fStream; + std::ios_base::openmode nMode = std::ios::binary; + if(isAppend) + { + nMode = nMode | std::ios::app; + } + + fStream.open(pFileName, nMode); + + bRet = fStream.good(); + + if(bRet) + { + fStream.write(pData, nLen); + fStream.flush(); + } + fStream.close(); +#ifndef _WIN32 + sync(); +#endif + return bRet; +} + +bool CVrFileUtils::ReadFileData(const char* pFileName, char* pData, size_t* pLen, const int nOffset) +{ + if(!pFileName) + return false; + + int nFileSize = GetFileSize(pFileName); + if(nOffset >= nFileSize) + { + return false; + } + + if(nFileSize - nOffset < *pLen) + { + *pLen = nFileSize - nOffset; + } + + std::ifstream iStream(pFileName, std::ios::binary); + iStream.seekg(nOffset); + iStream.read(pData, *pLen); + iStream.close(); + return true; +} + +bool CVrFileUtils::GetFileList(std::string& pDirPath, std::string exd, std::vector& vetFiles) +{ +#ifdef _WIN32 + //ļ + intptr_t hFile = 0; + //ļϢ + struct _finddata_t fileinfo; + std::string pathName, exdName; + + if (0 != strcmp(exd.c_str(), "")) + { + exdName = "\\*." + exd; + } + else + { + exdName = "\\*"; + } + + if ((hFile = _findfirst(pathName.assign(pDirPath).append(exdName).c_str(), &fileinfo)) != -1) + { + do + { + //ļļ,֮ + //,б + if ((fileinfo.attrib & _A_SUBDIR)) + { + if (strcmp(fileinfo.name, ".") != 0 && strcmp(fileinfo.name, "..") != 0) + { + std::string sFilePath = pathName.assign(pDirPath).append("\\").append(fileinfo.name); + GetFileList(sFilePath, exd, vetFiles); + } + + } + else + { + if (strcmp(fileinfo.name, ".") != 0 && strcmp(fileinfo.name, "..") != 0) + vetFiles.push_back(pathName.assign(pDirPath).append("\\").append(fileinfo.name)); + } + } while (_findnext(hFile, &fileinfo) == 0); + _findclose(hFile); + } +#endif + return true; +} + +/// ȡĿ¼Ŀ¼ +bool CVrFileUtils::GetDirList(std::string& pDirPath, std::vector& vetFiles) +{ +#if 0 + // Ŀ¼ + DIR* dir = opendir(pDirPath.c_str()); + if (dir == nullptr) { + std::cerr << "Unable to open directory: " << pDirPath << std::endl; + return false; + } + + struct dirent* entry; + while ((entry = readdir(dir)) != nullptr) { + const std::string name = entry->d_name; + + // ų "." ".." + if (name != "." && name != "..") { + const std::string full_path = pDirPath + "/" + name; + struct stat info; + if (stat(full_path.c_str(), &info) == 0) { + if (S_ISDIR(info.st_mode)) { + subdirs.push_back(full_path); // Ŀ¼򱣴· + } + } + } + } + + closedir(dir); // رĿ¼ +#endif + return true; +} + +bool CVrFileUtils::ReNameFile(const char* oldName, const char* newName) +{ + if (!IsFileExist(oldName)) return false; + return 0 == rename(oldName, newName); +} + +bool CVrFileUtils::DeleteLocalFile(const char* sFileName) +{ + if (!IsFileExist(sFileName)) return false; + return 0 == remove(sFileName); +} + +/// Ŀ¼Ƿ +bool CVrFileUtils::IsDirExist(const char* szDirectory) +{ + if (nullptr == szDirectory) + { + return false; + } + + struct stat sStat; + memset(&sStat, 0, sizeof(struct stat)); + if (0 != stat(szDirectory, &sStat)) + return false; + return true; +} + + +bool _CreateDirs(const std::string& path) { + // Ŀ¼ǷѾ + struct stat info; + if (stat(path.c_str(), &info) == 0 && (info.st_mode & S_IFDIR)) + { + return true; + } + + // ݹ鴴Ŀ¼ +#ifdef _WIN32 + size_t pos = path.find_last_of('\\'); +#else + size_t pos = path.find_last_of('/'); +#endif // _WIN32 + + if (pos != std::string::npos) { + std::string parent_path = path.substr(0, pos); + if (!_CreateDirs(parent_path)) { + return false; + } + } + + // ǰĿ¼ +#ifdef _WIN32 + int nMkdirRet = mkdir(path.c_str()); +#else + int nMkdirRet = mkdir(path.c_str(), 0777); +#endif // __WIN32 + if (nMkdirRet == -1) { + perror("mkdir"); + return false; + } + return true; +} + + +bool _DeleteDirs(const std::string& path) +{ + // Ŀ¼ǷѾ + struct stat info; + if (stat(path.c_str(), &info) == 0 && (info.st_mode & S_IFDIR)) + { + std::cout << "Directory already exists: " << path << std::endl; + return true; + } + int nRet = rmdir(path.c_str()); + return 0 == nRet; +} + + +/// µļ +bool CVrFileUtils::CreatNewDir(const char* szPath) +{ + return _CreateDirs(szPath); +} + +/// ɾĿ¼ +bool CVrFileUtils::DeleteDir(const char* szDirPath) +{ + return _DeleteDirs(szDirPath); +} + +/// ȥ׺ȡļ +std::string CVrFileUtils::GetFileName(const std::string& filePath, bool bHasSuffix) +{ + // ȡһбܻбܵλ + size_t slashIndex = filePath.find_last_of("/\\"); + + // ȡļչ + std::string fileName = (slashIndex != std::string::npos) ? filePath.substr(slashIndex + 1) : filePath; + + if(!bHasSuffix) + { + // һλ + size_t dotIndex = fileName.find_last_of("."); + + // ȥչ + if (dotIndex != std::string::npos) { + fileName = fileName.substr(0, dotIndex); + } + } + + return fileName; +} + diff --git a/VrUtils/Src/VrLog.cpp b/VrUtils/Src/VrLog.cpp new file mode 100644 index 0000000..6abcfd0 --- /dev/null +++ b/VrUtils/Src/VrLog.cpp @@ -0,0 +1,379 @@ +#include "VrLog.h" + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include "VrFileUtils.h" + +#ifdef _WIN32 +#include +#include +#include +#define _WINSOCK_DEPRECATED_NO_WARNINGS +#include +#pragma comment(lib,"Ws2_32.lib") +#else +#include +#include +#include +#endif + + +////定义Log宏 +///******************************************************************************************************************/ + +#ifdef _WIN32 + #define PATH_SEP "\\" +#else + #define PATH_SEP "/" +#endif + +#define LOG_CONFIG_FILE "config.ini" +#define LOG_PRINT_FILE "AppLog.log" + +// 使用函数内静态变量实现真正的全局单例（跨静态库安全） +struct VrLogState { + log4cpp::PatternLayout* pLayout = nullptr; + log4cpp::RollingFileAppender* pRollFileAppender = nullptr; + std::atomic isInitialized{false}; + std::atomic isShutdown{false}; // 标记日志系统是否已关闭（程序退出时） + std::atomic isTimeEnabled{true}; + std::once_flag initFlag; + std::once_flag uninitFlag; +}; + +// 函数内静态变量，确保跨编译单元的唯一性 +static VrLogState& GetLogState() { + static VrLogState state; + return state; +} + +// 兼容旧代码的访问方式 +#define m_pLayout (GetLogState().pLayout) +#define m_prollfileAppender (GetLogState().pRollFileAppender) +#define g_isLogInitialized (GetLogState().isInitialized) +#define g_isLogShutdown (GetLogState().isShutdown) +#define g_isTimeEnabled (GetLogState().isTimeEnabled) + + +#ifdef STM32_UCOSIII +#define LOG_TIME do{ \ + OS_ERR err;\ + OS_TICK time = OSTimeGet(&err); \ + printf("[%10u]",time); \ + }while(0) +#else +#define LOG_TIME do { \ + std::chrono::system_clock::time_point now = std::chrono::system_clock::now(); \ + std::time_t timestamp = std::chrono::system_clock::to_time_t(now); \ + std::tm local_time = *std::localtime(×tamp); \ + long long milliseconds = std::chrono::duration_cast(now.time_since_epoch()).count(); \ + printf("%d-%02d-%02d %02d:%02d:%02d.%03lld", local_time.tm_year + 1900 , local_time.tm_mon + 1, local_time.tm_mday, local_time.tm_hour, local_time.tm_min, local_time.tm_sec, milliseconds % 1000); \ + } while(0) +#endif + +#ifdef __ANDROID__ +#include +#define MY_LOG_VERBOSE(fmt, ...) __android_log_print(ANDROID_LOG_VERBOSE, "APPV", ##__VA_ARGS__) +#define MY_LOG_DEBUG(fmt, ...) __android_log_print(ANDROID_LOG_DEBUG, "APPD", ##__VA_ARGS__) +#define MY_LOG_INFO(fmt, ...) __android_log_print(ANDROID_LOG_INFO, "APPI", ##__VA_ARGS__) +#define MY_LOG_WARNING(fmt, ...) __android_log_print(ANDROID_LOG_WARN, "APPW", ##__VA_ARGS__) +#define MY_LOG_ERRO(fmt, ...) __android_log_print(ANDROID_LOG_ERROR, "APPE", ##__VA_ARGS__) +#else + +// 辅助函数：截断文件路径，最多显示15个字符（12个字符 + "..."） +static inline const char* TruncateFilePath(const char* filePath) { + static thread_local char buffer[20]; // 线程局部存储，避免多线程问题 + if (!filePath) return ""; + + size_t len = strlen(filePath); + if (len <= 15) { + // 如果长度不超过15，直接返回 + return filePath; + } else { + // 如果超过15个字符，取前13个字符 + "..." + strncpy(buffer, filePath, 13); + buffer[13] = '.'; + buffer[14] = '.'; + buffer[15] = '\0'; + return buffer; + } +} +#define MY_LOG_VERBOSE(filePath, nLine, fmt, ...) do { if(g_isTimeEnabled) LOG_TIME; printf(" V[%15s:%4u] " fmt"", TruncateFilePath(filePath), nLine ,##__VA_ARGS__); fflush(stdout); } while(0) +#define MY_LOG_DEBUG(filePath, nLine, fmt, ...) do { if(g_isTimeEnabled) LOG_TIME; printf(" D[%15s:%4u] " fmt"", TruncateFilePath(filePath), nLine ,##__VA_ARGS__); fflush(stdout); } while(0) +#define MY_LOG_INFO(filePath, nLine, fmt, ...) do { if(g_isTimeEnabled) LOG_TIME; printf(" I[%15s:%4u] " fmt"", TruncateFilePath(filePath), nLine ,##__VA_ARGS__); fflush(stdout); } while(0) +#define MY_LOG_WARNING(filePath, nLine, fmt, ...) do { if(g_isTimeEnabled) LOG_TIME; printf(" W[%15s:%4u] " fmt"", TruncateFilePath(filePath), nLine ,##__VA_ARGS__); fflush(stdout); } while(0) +#define MY_LOG_ERRO(filePath, nLine, fmt, ...) do { if(g_isTimeEnabled) LOG_TIME; printf(" E[%15s:%4u] " fmt"", TruncateFilePath(filePath), nLine ,##__VA_ARGS__); fflush(stdout); } while(0) +#endif // __ANROID__ +///******************************************************************************************************************/ + +// 动态获取日志路径（包含应用名称） +static std::string GetLogPath() +{ + std::string appName = "YJApp"; // 默认应用名称 + + // 尝试从进程路径获取应用名称 +#ifdef _WIN32 + // 获取用户文档目录 + + // 如果无法获取用户目录，则使用原来的方式 + char exePath[MAX_PATH]; + if (GetModuleFileNameA(NULL, exePath, MAX_PATH) != 0) { + std::string fullPath(exePath); + size_t pos = fullPath.find_last_of("\\"); + if (pos != std::string::npos) { + std::string fileName = fullPath.substr(pos + 1); + size_t dotPos = fileName.find_last_of("."); + if (dotPos != std::string::npos) { + appName = fileName.substr(0, dotPos); + } + } + } + + char userPath[MAX_PATH]; + if (SHGetFolderPathA(NULL, CSIDL_PERSONAL, NULL, SHGFP_TYPE_CURRENT, userPath) == S_OK) { + std::string userDir(userPath); + return userDir + "\\" + appName + "\\Log"; + } + + return ".\\" + appName + "\\Log"; +#else + // Linux/Android平台 + char exePath[1024]; + ssize_t len = readlink("/proc/self/exe", exePath, sizeof(exePath) - 1); + if (len != -1) { + exePath[len] = '\0'; + std::string fullPath(exePath); + size_t pos = fullPath.find_last_of("/"); + if (pos != std::string::npos) { + appName = fullPath.substr(pos + 1); + } + } + +#ifdef __ANDROID__ + return "/sdcard/" + appName + "/Log"; +#else + return appName + "/Log"; +#endif +#endif +} + + +// 自动初始化和清理类，确保程序启动时初始化日志，退出时清理日志资源 +class VrLogAutoCleaner { +public: + VrLogAutoCleaner() { + VrLogUtils::InitLog(); + } + + ~VrLogAutoCleaner() { + VrLogUtils::UninitLog(); + } +}; + +// 静态实例，程序启动时自动初始化日志，程序退出时自动清理日志 +static VrLogAutoCleaner g_logAutoCleaner; + +// 实际执行初始化的内部函数 +static void DoInitLog() +{ +#ifdef _WIN32 + // 设置控制台代码页为 UTF-8，解决中文乱码 + SetConsoleOutputCP(CP_UTF8); + SetConsoleCP(CP_UTF8); + // 设置 C 运行时的 locale 为 UTF-8 + setlocale(LC_ALL, ".UTF-8"); +#endif + + // if file exist then load file config + std::string logPath = GetLogPath(); + std::string logConfig = logPath + PATH_SEP + LOG_CONFIG_FILE; + if (CVrFileUtils::IsFileExist(logConfig.c_str())) + { + // load profile + try + { + log4cpp::PropertyConfigurator::configure(logConfig); + } + catch (log4cpp::ConfigureFailure& f) + { + std::cout << "Load Log Profile Error" << f.what() << std::endl; + } + } + else + { + if (!CVrFileUtils::IsDirExist(logPath.c_str())) + { + CVrFileUtils::CreatNewDir(logPath.c_str()); + } + + // create file appender + VrLogState& state = GetLogState(); + if (nullptr == state.pLayout) + { + state.pLayout = new log4cpp::PatternLayout; + // 设置布局格式，可以控制是否自动换行 + // %d{%Y-%m-%d %H:%M:%S.%l} [%p] %c - %m%n + // 其中 %n 表示换行符，如果想要控制换行可以去掉或修改这个 + state.pLayout->setConversionPattern("%d{%Y-%m-%d %H:%M:%S.%l} [%p] %m"); + } + if (nullptr == state.pRollFileAppender) + { + state.pRollFileAppender = new log4cpp::RollingFileAppender("AppLogAppender", logPath + PATH_SEP + LOG_PRINT_FILE, + 1024 * 1024, // 单个文件大小1M + 10); // 10个文件 + + state.pRollFileAppender->setLayout(state.pLayout); + + // add appender to category + log4cpp::Category& root = log4cpp::Category::getRoot(); + root.addAppender(state.pRollFileAppender); + + // set priority + root.setPriority(log4cpp::Priority::DEBUG); + } + } + + g_isLogInitialized = true; +} + +/// 初始化log +void VrLogUtils::InitLog() +{ + // 如果已经关闭，不再初始化 + if (g_isLogShutdown) { + return; + } + + // 使用 call_once 确保只执行一次初始化（跨静态库安全） + std::call_once(GetLogState().initFlag, DoInitLog); +} + +// 实际执行清理的内部函数 +static void DoUninitLog() +{ + // 先设置标志，防止其他线程继续调用日志 + g_isLogInitialized = false; + g_isLogShutdown = true; // 标记已关闭，防止 EchoLog 重新初始化 + + // 注意：不调用 log4cpp::Category::shutdown() + // 原因：静态对象析构顺序不确定，log4cpp 内部的静态对象可能在 + // VrLogAutoCleaner 之前就已经被析构，此时调用 shutdown() 会崩溃。 + // 程序退出时，操作系统会自动回收所有内存，不需要手动清理。 + + // 只置空指针，不删除对象（对象由 log4cpp 内部管理） + VrLogState& state = GetLogState(); + state.pLayout = nullptr; + state.pRollFileAppender = nullptr; +} + +/// 关闭log +void VrLogUtils::UninitLog() +{ + // 使用 call_once 确保只执行一次清理（跨静态库安全） + std::call_once(GetLogState().uninitFlag, DoUninitLog); +} + + +/// 开启/关闭时间戳 +void VrLogUtils::EnableTime(bool bEnable) +{ + if (nullptr != m_pLayout) + { + m_pLayout->setConversionPattern(bEnable ? "%d{%Y-%m-%d %H:%M:%S.%l} [%p] %m" : "%p %m"); + } + g_isTimeEnabled = false; +} + +/// 输出log +void VrLogUtils::EchoLog(VrLogLevel eLogLevel, const char* sFilePath, const int nLine, const char* sLogGroup, const char* sFormat, ...) +{ + // 如果日志系统已关闭（程序退出），直接返回，不要重新初始化 + if (g_isLogShutdown) { + return; + } + + // 由于VrLogAutoCleaner会在程序启动时自动初始化，这里只做保险检查 + if (!g_isLogInitialized) { + InitLog(); + } + + // load log info + va_list args; + va_start(args, sFormat); + char szLogInfo[1024] = { 0 }; +#ifdef _WIN32 + vsprintf_s(szLogInfo, sFormat, args); +#else + vsprintf(szLogInfo, sFormat, args); +#endif + va_end(args); + log4cpp::Category& root = log4cpp::Category::getRoot(); + + switch (eLogLevel) + { + case KELOGLEVEL_None: + break; + case KELOGLEVEL_Verbose: + MY_LOG_VERBOSE(sFilePath, nLine, "%s", szLogInfo); + if (nullptr != m_pLayout && nullptr != m_prollfileAppender) + { + LOG4CPP_DEBUG(root, szLogInfo); + } + break; + case KELOGLEVEL_Debug: + MY_LOG_DEBUG(sFilePath, nLine, "%s", szLogInfo); + if (nullptr != m_pLayout && nullptr != m_prollfileAppender) + { + LOG4CPP_DEBUG(root, szLogInfo); + } + break; + case KELOGLEVEL_Info: + MY_LOG_INFO(sFilePath, nLine, "%s", szLogInfo); + if (nullptr != m_pLayout && nullptr != m_prollfileAppender) + { + LOG4CPP_INFO(root, szLogInfo); + } + break; + case KELOGLEVEL_Warning: + MY_LOG_WARNING(sFilePath, nLine, "%s", szLogInfo); + if (nullptr != m_pLayout && nullptr != m_prollfileAppender) + { + LOG4CPP_WARN(root, szLogInfo); + } + break; + case KELOGLEVEL_Error: + MY_LOG_ERRO(sFilePath, nLine, "%s", szLogInfo); + if (nullptr != m_pLayout && nullptr != m_prollfileAppender) + { + LOG4CPP_ERROR(root, szLogInfo); + } + break; + default: + break; + } +} + +/// 修改log level default info +void VrLogUtils::AlterLogLevel(VrLogLevel eLogLevel) +{ + +} + +/// 修改log输出形式 默认都输出 +void VrLogUtils::AlterLogType(VrLogType eLogType) +{ + +} diff --git a/VrUtils/Src/VrMD5Utils.cpp b/VrUtils/Src/VrMD5Utils.cpp new file mode 100644 index 0000000..27eec2d --- /dev/null +++ b/VrUtils/Src/VrMD5Utils.cpp @@ -0,0 +1,10 @@ +#include "VrMD5Utils.h" +#include +#include + +std::string VrMD5Utils::GetMD5(const char* pData, const int nDataLen) +{ + std::string md5 = MD5((unsigned char*)pData, nDataLen).toStr(); + std::transform(md5.begin(), md5.end(), md5.begin(), ::toupper); + return md5; +} \ No newline at end of file diff --git a/VrUtils/Src/VrNTPUtils.cpp b/VrUtils/Src/VrNTPUtils.cpp new file mode 100644 index 0000000..1bf9bf2 --- /dev/null +++ b/VrUtils/Src/VrNTPUtils.cpp @@ -0,0 +1,216 @@ +#include "VrNTPUtils.h" + +#ifdef _WIN32 +#define _WINSOCK_DEPRECATED_NO_WARNINGS +#define _CRT_SECURE_NO_WARNINGS +#include +#include +#pragma comment(lib,"Ws2_32.lib") +#else +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#define SOCKET int +#define INVALID_SOCKET -1 +#define SOCKET_ERROR -1 +#endif +#include + +struct NTP_Packet +{ + int Control_Word; + int root_delay; + int root_dispersion; + int reference_identifier; + long long reference_timestamp; + long long originate_timestamp; + long long receive_timestamp; + int transmit_timestamp_seconds; + int transmit_timestamp_fractions; +}; + +CrNTPUtils::CrNTPUtils() + : m_bValidIP(false) + , m_nPort(123) +{ +} + +CrNTPUtils::~CrNTPUtils() +{ +} + + +/// ʼNTPClient +bool CrNTPUtils::InitNTPClient(char* sIP, int nPort) +{ + bool bRet = true; + +#ifdef _WIN32 + WORD wVersionRequested; + WSADATA wsaData; + + // ʼ汾 + wVersionRequested = MAKEWORD(1, 1); + if (0 != WSAStartup(wVersionRequested, &wsaData)) + { + WSACleanup(); + return false; + } + if (LOBYTE(wsaData.wVersion) != 1 || HIBYTE(wsaData.wVersion) != 1) + { + WSACleanup(); + return false; + } +#endif + if (nullptr != sIP) + { + m_bValidIP = true; +#ifdef _WIN32 + strcpy_s(m_sIP, sIP); +#else + strcpy(m_sIP, sIP); +#endif // _WIN32 + + } + return true; +} + + +/// ˳NTPClient +bool CrNTPUtils::ExitNTPClient() +{ + bool bRet = true; + + + return bRet; +} + +///ȡʱ +bool CrNTPUtils::GetSystemTime(SYSTEMTIME& newtime) +{ + // IPй½ʱַͬ޸ + SOCKET soc = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP); + struct sockaddr_in addrSrv; + + // time.ustc.edu.cn 202.38.64.7 + // ntp.aliyun.com 203.107.6.88 +#ifdef _WIN32 + if (!m_bValidIP) + { + inet_pton(AF_INET, "203.107.6.88", &addrSrv);//time.ustc.edu.cn"); + } + else + { + inet_pton(AF_INET, m_sIP, &addrSrv); + } +#else + if (!m_bValidIP) + { + addrSrv.sin_addr.s_addr = inet_addr("203.107.6.88");//time.ustc.edu.cn"); + } + else + { + addrSrv.sin_addr.s_addr = inet_addr(m_sIP); + } +#endif // _WIN32 + + + addrSrv.sin_family = AF_INET; + addrSrv.sin_port = htons(m_nPort); + + NTP_Packet NTP_Send, NTP_Recv; + NTP_Send.Control_Word = htonl(0x1B000000); + NTP_Send.root_delay = 0; + NTP_Send.root_dispersion = 0; + NTP_Send.reference_identifier = 0; + NTP_Send.reference_timestamp = 0; + NTP_Send.originate_timestamp = 0; + NTP_Send.receive_timestamp = 0; + NTP_Send.transmit_timestamp_seconds = 0; + NTP_Send.transmit_timestamp_fractions = 0; + + if (SOCKET_ERROR == sendto(soc, (const char*)&NTP_Send, sizeof(NTP_Send), + 0, (struct sockaddr*)&addrSrv, sizeof(addrSrv))) + { +#ifdef _WIN32 + closesocket(soc); +#else + close(soc); +#endif // _WIN32 + + return false; + } + socklen_t sockaddr_Size = sizeof(addrSrv); + if (SOCKET_ERROR == recvfrom(soc, (char*)&NTP_Recv, sizeof(NTP_Recv), 0, (struct sockaddr*)&addrSrv, &sockaddr_Size)) + { +#ifdef _WIN32 + closesocket(soc); +#else + close(soc); +#endif // _WIN32 + return false; + } +#ifdef _WIN32 + closesocket(soc); + WSACleanup(); +#else + close(soc); +#endif + + float Splitseconds; + struct tm* lpLocalTime = nullptr; + time_t ntp_time; + + // ȡʱʱ + ntp_time = ntohl(NTP_Recv.transmit_timestamp_seconds) - 2208988800; +#ifdef _WIN32 + localtime_s(lpLocalTime , &ntp_time); +#else + lpLocalTime = localtime(&ntp_time); +#endif + + if (lpLocalTime == nullptr) + { + return false; + } + + // ȡµʱ + newtime.wYear = lpLocalTime->tm_year + 1900; + newtime.wMonth = lpLocalTime->tm_mon + 1; + newtime.wDayOfWeek = lpLocalTime->tm_wday; + newtime.wDay = lpLocalTime->tm_mday; + newtime.wHour = lpLocalTime->tm_hour; + newtime.wMinute = lpLocalTime->tm_min; + newtime.wSecond = lpLocalTime->tm_sec; + + // ʱ侫 + Splitseconds = (float)ntohl(NTP_Recv.transmit_timestamp_fractions); + Splitseconds = (float)0.000000000200 * Splitseconds; + Splitseconds = (float)1000.0 * Splitseconds; + newtime.wMilliseconds = (unsigned short)Splitseconds; + return true; +} + +/************************************************************************/ +/* ˵:Զʱͬ +/* ˵: +/* ֵ:ɹTRUEʧܷFALSE +/************************************************************************/ +bool CrNTPUtils::_UpdateDate() +{ + SYSTEMTIME newtime; + bool bRet = GetSystemTime(newtime); + // ޸ıϵͳʱ +#ifdef _WIN32 + SetLocalTime(&newtime); +#endif + return true; +} \ No newline at end of file diff --git a/VrUtils/Src/VrNetUtils.cpp b/VrUtils/Src/VrNetUtils.cpp new file mode 100644 index 0000000..4b95208 --- /dev/null +++ b/VrUtils/Src/VrNetUtils.cpp @@ -0,0 +1,812 @@ +#include "VrNetUtils.h" +#include "VrLog.h" + +#ifdef _WIN32 +#define _WINSOCK_DEPRECATED_NO_WARNINGS +#include +#include +#include +#include +#include +#include +#include +#pragma comment(lib, "ws2_32.lib") +#pragma comment(lib, "IPHlpApi.lib") +#pragma comment(lib, "Advapi32.lib") +#else +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +//#include +#include +#include +#include +#include +#endif +#include +#ifdef _WIN32 +enum +{ + SIOCSIFADDR = 1, + SIOCGIFADDR, + SIOCSIFNETMASK, + SIOCGIFNETMASK, + SIOCGIFHWADDR, +}; +#endif + +#define PJ_MAX_HOSTNAME (128) + +#define RUN_SUCCESS 0 +#define RUN_FAIL -1 + +std::mutex csDevice; + +std::ostream& operator<<(std::ostream& os, const SVrCardInfo& sAction) +{ + os << "cardInfo"; + os << " index:" << sAction.nAdapterIndex << " name:" << sAction.szNetCardName; + char ip[IPV4_CHAR_LENGTH]; + CVrNetUtils::IPByte2String(sAction.byLocalIP, ip); + os << " ip:" << ip; +// os << "mac:" << sAction.byMacAddress[0] << ":" << sAction.byMacAddress[1] << sAction.byMacAddress[3] << ":" +// << sAction.byMacAddress[4] << ":" << sAction.byMacAddress[4] << sAction.byMacAddress[5]; + CVrNetUtils::IPByte2String(sAction.bySubMask, ip); + os << " mask:" << ip; + + CVrNetUtils::IPByte2String(sAction.byGetWay, ip); + os << " getway:" << ip; + + CVrNetUtils::IPByte2String(sAction.byBroadCastIP, ip); + os << " broadIp:" << ip; + return os; +} + +static bool _GetAddr(char *addr, int flag, const char *devName) +{ +#ifdef _WIN32 + char ip[IPV4_CHAR_LENGTH] = "192.168.1.173"; + memcpy(addr, ip, IPV4_CHAR_LENGTH); + return false; +#else + + int sockfd = 0; + struct sockaddr_in *sin; + struct ifreq ifr; + + if ((sockfd = socket(AF_INET, SOCK_STREAM, 0)) < 0) + { + LOG_ERRO("socket error! [%d]\n", sockfd); + return false; + } + + memset(&ifr, 0, sizeof(ifr)); + sprintf(ifr.ifr_name, "%s", devName); + + LOG_DEBUG("dev %s \n", ifr.ifr_name); + + if (ioctl(sockfd, flag, &ifr) < 0) + { + LOG_ERRO("ioctl error! [%d]\n", sockfd); + close(sockfd); + return false; + } + close(sockfd); + + if (SIOCGIFHWADDR == flag) + { + memcpy((void *)addr, (const void *)&ifr.ifr_ifru.ifru_hwaddr.sa_data, 6); + sprintf((char *)addr, "%2.2x:%2.2x:%2.2x:%2.2x:%2.2x:%2.2x", addr[0], addr[1], addr[2], addr[3], addr[4], addr[5]); + } + else + { + sin = (struct sockaddr_in *)&ifr.ifr_addr; + // ��ӡ sin->sin_addr.s_addr �Ա���� + //sprintf((char *)addr, "%s", inet_ntoa(sin->sin_addr)); + unsigned long ipInfo = sin->sin_addr.s_addr; + sprintf((char*)addr, "%ld.%ld.%ld.%ld", ipInfo & 0xFF, (ipInfo >> 8) & 0xFF, (ipInfo >> 16) & 0xFF, (ipInfo >> 24) & 0xFF); + } + return true; + +#endif // _WIN32 + +} + +static bool _SetAddr(const char ip[IPV4_CHAR_LENGTH], int flag, const char* devName) +{ +#ifndef _WIN32 + std::lock_guard oLock(csDevice); + struct ifreq ifr; + struct sockaddr_in sin; + int sockfd; + + if (!CVrNetUtils::IsValidIP(ip)) + { + LOG_WARNING("Set %d %s invalied ", flag, ip); + return false; + } + + sockfd = socket(AF_INET, SOCK_DGRAM, 0); + if (sockfd <= 0) + { + LOG_ERRO("Could not get socket %s fd = %d [%d - %s]\n", devName, sockfd, errno, strerror(errno)); + return false; + } + + snprintf(ifr.ifr_name, (sizeof(ifr.ifr_name) - 1), "%s", devName); + + /* Read interface flags */ + if (ioctl(sockfd, SIOCGIFFLAGS, &ifr) < 0) + { + LOG_ERRO("%s ifdown: shutdown ", ifr.ifr_name); + close(sockfd); + return false; + } + + memset(&sin, 0, sizeof(struct sockaddr)); + sin.sin_family = AF_INET; + + inet_aton((const char*)ip, (in_addr*)(&sin.sin_addr.s_addr)); + memcpy(&ifr.ifr_addr, &sin, sizeof(struct sockaddr)); + if (ioctl(sockfd, flag, &ifr) < 0) + { + LOG_ERRO("Cannot set IP address. "); + perror(ifr.ifr_name); + close(sockfd); + return false; + } + close(sockfd); +#endif + return true; +} + +bool CVrNetUtils::SetAddrMaskGateWay(const char *ifname, const char *Ipaddr, const char *mask, const char *gateway) +{ +#ifndef _WIN32 + + int fd; + int rc; + struct ifreq ifr; + struct sockaddr_in *sin; + struct rtentry rt; + + fd = socket(AF_INET, SOCK_DGRAM, 0); + if (fd < 0) + { + perror("socket error"); + return false; + } + memset(&ifr, 0, sizeof(ifr)); + strcpy(ifr.ifr_name, ifname); + sin = (struct sockaddr_in*)&ifr.ifr_addr; + sin->sin_family = AF_INET; + //IP��ַ + if (inet_aton(Ipaddr, &(sin->sin_addr)) < 0) + { + LOG_ERRO("inet_aton error"); + return false; + } + + + if (ioctl(fd, SIOCSIFADDR, &ifr) < 0) + { + LOG_ERRO("ioctl SIOCSIFADDR error"); + return false; + } + //�������� + if (inet_aton(mask, &(sin->sin_addr)) < 0) + { + LOG_ERRO("inet_pton error"); + return false; + } + if (ioctl(fd, SIOCSIFNETMASK, &ifr) < 0) + { + LOG_ERRO("ioctl"); + return false; + } + //���� + memset(&rt, 0, sizeof(struct rtentry)); + memset(sin, 0, sizeof(struct sockaddr_in)); + sin->sin_family = AF_INET; + sin->sin_port = 0; + if (inet_aton(gateway, &sin->sin_addr) < 0) + { + LOG_WARNING("inet_aton error\n"); + } + +#if 0 + memcpy(&rt.rt_gateway, sin, sizeof(struct sockaddr_in)); + ((struct sockaddr_in *)&rt.rt_dst)->sin_family = AF_INET; + ((struct sockaddr_in *)&rt.rt_genmask)->sin_family = AF_INET; + ((struct sockaddr_in *)&rt.rt_dst)->sin_addr.s_addr = htonl(INADDR_ANY); // Ĭ��·�� + ((struct sockaddr_in *)&rt.rt_genmask)->sin_addr.s_addr = htonl(0); // ����Ϊ 0.0.0.0 + + rt.rt_flags = RTF_GATEWAY; + if (ioctl(fd, SIOCADDRT, &rt) < 0) + { + LOG_ERRO("ioctl(SIOCADDRT) error in set_default_route\n"); + close(fd); + return false; + } +#endif + + close(fd); +#endif // !_WIN32 + return true; + +} + +// @brief +// Is Virtual Net Card +static bool _IsVirtualNetDevice(char* lpszAdapterName) +{ + bool bRet = false; +#ifdef _WIN32 + HKEY hSubKey = NULL; + HKEY hLocalKey = NULL; + do + { + if (nullptr == lpszAdapterName || 0 == strlen(lpszAdapterName)) + { + break; + } + + char szKeyName[260] = "SYSTEM\\CurrentControlSet\\Control\\Network\\{4D36E972-E325-11CE-BFC1-08002BE10318}"; + if (ERROR_SUCCESS != RegOpenKeyExA(HKEY_LOCAL_MACHINE, szKeyName, 0, KEY_READ, &hSubKey)) + { + break; + } + + char szDataBuf[260] = { 0 }; + sprintf_s(szDataBuf, "%s\\Connection", lpszAdapterName);//��ʽ���ַ��� + if (ERROR_SUCCESS != RegOpenKeyExA(hSubKey, szDataBuf, 0, KEY_READ, &hLocalKey)) + { + break; + } + + //����ע����е�ֵ + DWORD dwType = REG_SZ; char szData[250]; DWORD dwSize = 250; + if (ERROR_SUCCESS != RegQueryValueExA(hLocalKey, "PnPInstanceId", 0, &dwType, (BYTE*)(szData), &dwSize)) + { + break; + } + + bRet = (nullptr == strstr(szData, "PCI") && nullptr == strstr(szData, "USB")); + } while (false); + if (nullptr != hSubKey) + { + RegCloseKey(hSubKey); + } + if (nullptr != hLocalKey) + { + RegCloseKey(hLocalKey); + } +#else + +#endif + return bRet; +} + +std::string _GetCardBroadIP(const std::string localIP, const std::string locakMask) +{ + unsigned int arrLocalIP[4]; + unsigned int arrlocakMask[4]; + unsigned int arrlocalBroadcast[4]; + +#ifndef _WIN32 + sscanf(localIP.c_str(), "%u.%u.%u.%u", &arrLocalIP[0], &arrLocalIP[1], &arrLocalIP[2], &arrLocalIP[3]); + sscanf(locakMask.c_str(), "%u.%u.%u.%u", &arrlocakMask[0], &arrlocakMask[1], &arrlocakMask[2], &arrlocakMask[3]); +#else + sscanf_s(localIP.c_str(), "%u.%u.%u.%u", &arrLocalIP[0], &arrLocalIP[1], &arrLocalIP[2], &arrLocalIP[3]); + sscanf_s(locakMask.c_str(), "%u.%u.%u.%u", &arrlocakMask[0], &arrlocakMask[1], &arrlocakMask[2], &arrlocakMask[3]); +#endif // !_WIN32 + + arrlocalBroadcast[0] = (arrlocakMask[0] & arrLocalIP[0] & 0xFF) | (~arrlocakMask[0] & 0xFF); + arrlocalBroadcast[1] = (arrlocakMask[1] & arrLocalIP[1] & 0xFF) | (~arrlocakMask[1] & 0xFF); + arrlocalBroadcast[2] = (arrlocakMask[2] & arrLocalIP[2] & 0xFF) | (~arrlocakMask[2] & 0xFF); + arrlocalBroadcast[3] = (arrlocakMask[3] & arrLocalIP[3] & 0xFF) | (~arrlocakMask[3] & 0xFF); + + std::stringstream ss; + ss << arrlocalBroadcast[0] << "."; + ss << arrlocalBroadcast[1] << "."; + ss << arrlocalBroadcast[2] << "."; + ss << arrlocalBroadcast[3]; + return ss.str(); +} + +/// ��ȡ�����豸 +bool CVrNetUtils::QueryAllNetworkInfo(std::list& lstNetCardInfo) +{ +#ifdef _WIN32 + unsigned long lSize = 0; + GetAdaptersInfo(nullptr, &lSize); + + if (lSize > 0) + { + PIP_ADAPTER_INFO pAdapterInfo = (PIP_ADAPTER_INFO)new unsigned char[lSize]; + + GetAdaptersInfo(pAdapterInfo, &lSize); + PIP_ADAPTER_INFO pCurAdapter = pAdapterInfo; + while (nullptr != pCurAdapter) + { + IP_ADDR_STRING* pCurAddress = &pCurAdapter->IpAddressList; + IP_ADDR_STRING* pCurGetWay = &pCurAdapter->GatewayList; + while (nullptr != pCurAddress) + { + // Filter? + // is Virtual Card + if (pCurAdapter->AdapterName == nullptr || _IsVirtualNetDevice(pCurAdapter->AdapterName)) + { + pCurAddress = pCurAddress->Next; + continue; + } + + // + if (0 == strcmp("0.0.0.0", pCurAddress->IpAddress.String)) + { + pCurAddress = pCurAddress->Next; + continue; + } + + // No Support UnEqu Length 6 MAC Address + if (pCurAdapter->AddressLength != 6) + { + pCurAddress = pCurAddress->Next; + continue; + } + + // Add To list + //lstNetCardInfo.push_back(pCurAddress->IpAddress.String); + //SVrCardInfo config; + //config.ip = pCurAddress->IpAddress.String; + //config.mask = pCurAddress->IpMask.String; + //config.borad = _GetCardBroadIP(pCurAddress->IpAddress.String, pCurAddress->IpMask.String); + // + SVrCardInfo sNetCardInfo; + sNetCardInfo.nAdapterIndex = pCurAdapter->Index; + if (pCurGetWay && 0 != strlen(pCurGetWay->IpAddress.String)) + { + IPString2Byte(pCurGetWay->IpAddress.String, sNetCardInfo.byGetWay); + } + IPString2Byte(pCurAddress->IpAddress.String, sNetCardInfo.byLocalIP); + IPString2Byte(pCurAddress->IpMask.String, sNetCardInfo.bySubMask); +#ifdef _WIN32 + strcpy_s(sNetCardInfo.szNetCardName, pCurAdapter->Description); +#else + strcpy(sNetCardInfo.szNetCardName, pCurAdapter->Description); +#endif // _WIN32 + + memcpy(sNetCardInfo.byMacAddress, pCurAdapter->Address, pCurAdapter->AddressLength); + + // ����㲥��ַ + CalcBroadCastIP(sNetCardInfo.byLocalIP, sNetCardInfo.bySubMask, sNetCardInfo.byBroadCastIP); + + lstNetCardInfo.push_back(sNetCardInfo); + pCurAddress = pCurAddress->Next; + if (pCurGetWay) + { + pCurGetWay = pCurGetWay->Next; + } + } + pCurAdapter = pCurAdapter->Next; + } + + delete pAdapterInfo; + } +#else + int fd; + int interfaceNum = 0; + struct ifreq buf[16]; + struct ifconf ifc; + struct ifreq ifrcopy; + char ip[32] = { 0 }; + char broadAddr[32] = { 0 }; + char subnetMask[32] = { 0 }; + + if ((fd = socket(AF_INET, SOCK_DGRAM, 0)) < 0) + { + close(fd); + return -1; + } + + ifc.ifc_len = sizeof(buf); + ifc.ifc_buf = (caddr_t)buf; + if (!ioctl(fd, SIOCGIFCONF, (char *)&ifc)) + { + interfaceNum = ifc.ifc_len / sizeof(struct ifreq); + while (interfaceNum-- > 0) + { + SVrCardInfo sNetCardInfo; + strcpy(sNetCardInfo.szNetCardName, buf[interfaceNum].ifr_name); + + //ignore the interface that not up or not runing + ifrcopy = buf[interfaceNum]; + if (ioctl(fd, SIOCGIFFLAGS, &ifrcopy)) + { + close(fd); + return false; + } + + // index + sNetCardInfo.nAdapterIndex = if_nametoindex(sNetCardInfo.szNetCardName); + + //get the mac of this interface + if (!ioctl(fd, SIOCGIFHWADDR, (char *)(&buf[interfaceNum]))) + { + memcpy(sNetCardInfo.byMacAddress, buf[interfaceNum].ifr_hwaddr.sa_data, 6); + } + else + { + close(fd); + return false; + } + + //get the IP of this interface + if (!ioctl(fd, SIOCGIFADDR, (char *)&buf[interfaceNum])) + { + snprintf(ip, sizeof(ip), "%s", (char *)inet_ntoa(((struct sockaddr_in *)&(buf[interfaceNum].ifr_addr))->sin_addr)); + CVrNetUtils::IPString2Byte(ip, sNetCardInfo.byLocalIP); + } + else + { + close(fd); + return false; + } + + //get the subnet mask of this interface + if (!ioctl(fd, SIOCGIFNETMASK, &buf[interfaceNum])) + { + snprintf(subnetMask, sizeof(subnetMask), "%s", (char *)inet_ntoa(((struct sockaddr_in *)&(buf[interfaceNum].ifr_netmask))->sin_addr)); + CVrNetUtils::IPString2Byte(subnetMask, sNetCardInfo.bySubMask); + } + else + { + close(fd); + return false; + } + + lstNetCardInfo.push_back(sNetCardInfo); + } + } + else + { + close(fd); + return false; + } + + close(fd); +#endif + return lstNetCardInfo.size() > 0; +} + +/// @brief +/// IP�Ƿ���� +/// @param szIPv4[in] IP��ַ +/// @return IP�����򷵻�true +bool CVrNetUtils::IsValidIP(const char szIPv4[IPV4_CHAR_LENGTH]) +{ + if (szIPv4 == nullptr) { + return false; + } + + char tmp[IPV4_CHAR_LENGTH]; + // 使用 strncpy 安全复制字符串，并确保 null 结尾 + strncpy(tmp, szIPv4, IPV4_CHAR_LENGTH - 1); + tmp[IPV4_CHAR_LENGTH - 1] = '\0'; + + char *buf; + + const char * delim = "."; //分隔符字符串（点号） +#ifdef _WIN32 + char* p = strtok_s((char *)tmp, delim, &buf); //第一次调用strtok +#else + char* p = strtok((char *)tmp, delim); //第一次调用strtok +#endif + int index = 0; + while (p != NULL) + { //如果返回值不为NULL时继续循环 + // 验证每个部分是否为有效数字且在0-255范围内 + int num = atoi(p); + if (num < 0 || num > 255) { + return false; + } + + index++; +#ifdef _WIN32 + p = strtok_s(NULL, delim, &buf); //后续调用strtok来分解剩下的字符串 +#else + p = strtok(NULL, delim); //后续调用strtok来分解剩下的字符串 +#endif // _WIN32 + + } + if (index == 4) + { + return true; + } + return false; +} + +bool CVrNetUtils::SetIPv4Address(const char ip[IPV4_CHAR_LENGTH], const char *devName) +{ + return _SetAddr(ip, SIOCSIFADDR, devName); +} + +/// @brief +/// ��ȡIP��ַ +bool CVrNetUtils::GetIPv4Address(char ip[IPV4_CHAR_LENGTH], const char *devName) +{ + return _GetAddr(ip, SIOCGIFADDR, devName) && IsValidIP(ip); +} + +bool CVrNetUtils::SetIPv4NetMask(const char ip[IPV4_CHAR_LENGTH], const char *devName) +{ + return _SetAddr(ip, SIOCSIFNETMASK, devName); +} + +/// @brief +/// ��ȡ�������� +bool CVrNetUtils::GetIPv4NetMask(char ip[IPV4_CHAR_LENGTH], const char *devName) +{ + return _GetAddr(ip, SIOCGIFNETMASK, devName); +} + +/// ��ȡ�㲥��ַ +bool CVrNetUtils::GetIPv4BroadIP(char ip[IPV4_CHAR_LENGTH], const char *devName) +{ + char devip[IPV4_CHAR_LENGTH]; + char devmask[IPV4_CHAR_LENGTH]; + + unsigned char deviparr[4]; + unsigned char devmaskarr[4]; + unsigned char devbroadarr[4]; + + bool bRet = GetIPv4Address(devip, devName); + if (bRet) + { + bRet = GetIPv4NetMask(devmask, devName); + } + + if (bRet) + { + IPString2Byte(devip, deviparr); + IPString2Byte(devmask, devmaskarr); + CalcBroadCastIP(deviparr, devmaskarr, devbroadarr); + IPByte2String(devbroadarr, ip); + } + return bRet; +} + +/// @brief +/// ��ȡ������ַ +bool CVrNetUtils::GetLocalMAC(char byMac[MAC_CHAR_LENGTH], const char *devName) +{ + return _GetAddr((char*)byMac, SIOCGIFHWADDR, devName); +} + +/// �������� +bool CVrNetUtils::SetGateWay(const char ip[IPV4_CHAR_LENGTH], const char *devName) +{ +#ifndef _WIN32 + std::lock_guard oLock(csDevice); + int sockFd; + struct sockaddr_in sockaddr; + struct rtentry rt; + + if (!IsValidIP(ip)) + { + LOG_WARNING("gateway invalid!\n"); + return false; + } + + sockFd = socket(AF_INET, SOCK_DGRAM, 0); + if (sockFd < 0) + { + LOG_WARNING("Socket create error.\n"); + return false; + } + + memset(&rt, 0, sizeof(struct rtentry)); + memset(&sockaddr, 0, sizeof(struct sockaddr_in)); + sockaddr.sin_family = AF_INET; + sockaddr.sin_port = 0; + if (inet_aton((const char*)ip, &sockaddr.sin_addr) < 0) + { + perror("inet_aton error\n"); + close(sockFd); + return false; + } + + memcpy(&rt.rt_gateway, &sockaddr, sizeof(struct sockaddr_in)); + ((struct sockaddr_in *)&rt.rt_dst)->sin_family = AF_INET; + ((struct sockaddr_in *)&rt.rt_genmask)->sin_family = AF_INET; + rt.rt_flags = RTF_GATEWAY; + if (ioctl(sockFd, SIOCADDRT, &rt) < 0) + { + perror("ioctl(SIOCADDRT) error in set_default_route\n"); + close(sockFd); + return true; + } + close(sockFd); +#endif + return true; +} + +/// ��ȡ���� +bool CVrNetUtils::GetGateWay(char ip[IPV4_CHAR_LENGTH], const char *devName) +{ +#ifndef _WIN32 + + int received_bytes = 0, msg_len = 0, route_attribute_len = 0; + int sock = -1, msgseq = 0; + struct nlmsghdr *nlh, *nlmsg; + struct rtmsg *route_entry; + // This struct contain route attributes (route type) + struct rtattr *route_attribute; + int BUFFER_SIZE = 4096; + char msgbuf[BUFFER_SIZE], buffer[BUFFER_SIZE]; + char *ptr = buffer; + struct timeval tv; + + if ((sock = socket(AF_NETLINK, SOCK_RAW, NETLINK_ROUTE)) < 0) + { + perror("socket failed"); + return false; + } + + memset(msgbuf, 0, sizeof(msgbuf)); + memset(ip, 0, IPV4_CHAR_LENGTH); + memset(buffer, 0, sizeof(buffer)); + + /* point the header and the msg structure pointers into the buffer */ + nlmsg = (struct nlmsghdr *)msgbuf; + + /* Fill in the nlmsg header*/ + nlmsg->nlmsg_len = NLMSG_LENGTH(sizeof(struct rtmsg)); + nlmsg->nlmsg_type = RTM_GETROUTE; // Get the routes from kernel routing table . + nlmsg->nlmsg_flags = NLM_F_DUMP | NLM_F_REQUEST; // The message is a request for dump. + nlmsg->nlmsg_seq = msgseq++; // Sequence of the message packet. + nlmsg->nlmsg_pid = getpid(); // PID of process sending the request. + + /* 1 Sec Timeout to avoid stall */ + tv.tv_sec = 1; + setsockopt(sock, SOL_SOCKET, SO_RCVTIMEO, (struct timeval *)&tv, sizeof(struct timeval)); + /* send msg */ + if (send(sock, nlmsg, nlmsg->nlmsg_len, 0) < 0) + { + perror("send failed"); + return false; + } + /* receive response */ + do + { + received_bytes = recv(sock, ptr, sizeof(buffer) - msg_len, 0); + if (received_bytes < 0) { + perror("Error in recv"); + return false; + } + + nlh = (struct nlmsghdr *) ptr; + + /* Check if the header is valid */ + if ((NLMSG_OK(nlmsg, received_bytes) == 0) || + (nlmsg->nlmsg_type == NLMSG_ERROR)) + { + perror("Error in received packet"); + return false; + } + + /* If we received all data break */ + if (nlh->nlmsg_type == NLMSG_DONE) + break; + else { + ptr += received_bytes; + msg_len += received_bytes; + } + + /* Break if its not a multi part message */ + if ((nlmsg->nlmsg_flags & NLM_F_MULTI) == 0) + break; + } while ((nlmsg->nlmsg_seq != msgseq) || (nlmsg->nlmsg_pid != getpid())); + + /* parse response */ + for (; NLMSG_OK(nlh, received_bytes); nlh = NLMSG_NEXT(nlh, received_bytes)) + { + /* Get the route data */ + route_entry = (struct rtmsg *) NLMSG_DATA(nlh); + + /* We are just interested in main routing table */ + if (route_entry->rtm_table != RT_TABLE_MAIN) + continue; + + route_attribute = (struct rtattr *) RTM_RTA(route_entry); + route_attribute_len = RTM_PAYLOAD(nlh); + + /* Loop through all attributes */ + for (; RTA_OK(route_attribute, route_attribute_len); route_attribute = RTA_NEXT(route_attribute, route_attribute_len)) + { + switch (route_attribute->rta_type) + { + case RTA_GATEWAY: + inet_ntop(AF_INET, RTA_DATA(route_attribute), ip, IPV4_CHAR_LENGTH); + break; + default: + break; + } + } + } + + close(sock); + + return IsValidIP(ip); + +#endif // !_WIN32 + return true; +} + +/// ��IP�ַ���תΪByte +bool CVrNetUtils::IPString2Byte(const char* szIP, unsigned char byIP[4]) +{ + if (nullptr == szIP) + return false; + + unsigned char byTmpIP[4] = { 0 }; + int nNum = 0; + const char* pchValue = szIP; + while ('\0' != *pchValue) + { + if (*pchValue == '.') + { + nNum++; + + if (nNum >= 4) + return false; + + pchValue++; + continue; + } + + if (*pchValue < '0' || *pchValue > '9') + return false; + + byTmpIP[nNum] = byTmpIP[nNum] * 10 + (*pchValue - '0'); + pchValue++; + } + + memcpy(byIP, byTmpIP, 4); + return true; +} + +/// ��IP��ByteתΪ�ַ��� +void CVrNetUtils::IPByte2String(const unsigned char byIP[4], char szIP[IPV4_CHAR_LENGTH]) +{ + memset(szIP, 0, IPV4_CHAR_LENGTH); +#ifdef _MSC_VER + sprintf_s(szIP, IPV4_CHAR_LENGTH, "%d.%d.%d.%d", byIP[0], byIP[1], byIP[2], byIP[3]); +#else + sprintf(szIP, "%d.%d.%d.%d", byIP[0], byIP[1], byIP[2], byIP[3]); +#endif +} + +/// ����㲥��ַ +void CVrNetUtils::CalcBroadCastIP(unsigned char byIP[4], unsigned char byMask[4], unsigned char byBroadCast[4]) +{ + byBroadCast[0] = (byMask[0] & byIP[0]) | (~byMask[0]); + byBroadCast[1] = (byMask[1] & byIP[1]) | (~byMask[1]); + byBroadCast[2] = (byMask[2] & byIP[2]) | (~byMask[2]); + byBroadCast[3] = (byMask[3] & byIP[3]) | (~byMask[3]); +} + + + diff --git a/VrUtils/Src/VrNumUtils.cpp b/VrUtils/Src/VrNumUtils.cpp new file mode 100644 index 0000000..45d7d85 --- /dev/null +++ b/VrUtils/Src/VrNumUtils.cpp @@ -0,0 +1,20 @@ +#include "VrNumUtils.h" +#include + +// С˷ת +short CVrNumUtils::NumFlip(short nData) +{ + short sNumHi = (nData >> 8 & 0xff); + short sNumLo = nData & 0xff; + return sNumLo << 8 | sNumHi; +} + +// С˷ת +float CVrNumUtils::NumFlipFloat(float fData) +{ + char* pData = (char *)&fData; + // ֶֽ + std::swap(pData[0], pData[3]); + std::swap(pData[1], pData[2]); + return *((float*)pData); +} \ No newline at end of file diff --git a/VrUtils/Src/VrShellUtils.cpp b/VrUtils/Src/VrShellUtils.cpp new file mode 100644 index 0000000..b22a4f3 --- /dev/null +++ b/VrUtils/Src/VrShellUtils.cpp @@ -0,0 +1,43 @@ +#include "VrShellUtils.h" +#include +#include +#include +#include +#include + +#ifndef _WIN32 +#include +#include +#endif + +/// @brief +/// ִShell +/// [in]Shell +int CVrShellUtils::ExecuCMD(const char *data) +{ + int ret = 0; +#ifndef _WIN32 + while (true) + { + ret = system(data); + if (WIFSIGNALED(ret) && (WTERMSIG(ret) == SIGINT || WTERMSIG(ret) == SIGQUIT)) + { + if (ret == 512) + { + break; + } + std::this_thread::sleep_for(std::chrono::seconds(1)); + continue; + } + else + { +#ifdef SHELL_PRINT + LOG_DEBUG("execu %s successful code:%d", data, ret); +#endif + break; + } + break; + } +#endif + return ret; +} diff --git a/VrUtils/Src/VrStringUtils.cpp b/VrUtils/Src/VrStringUtils.cpp new file mode 100644 index 0000000..7d1b375 --- /dev/null +++ b/VrUtils/Src/VrStringUtils.cpp @@ -0,0 +1,104 @@ +#include "VrStringUtils.h" +#include +#include +#include + +/// \brief +/// תΪַ +/// \param nNumber[in] +/// \return ַ +std::string CVrStringUtils::Int2Str(int nNum) +{ + std::stringstream ss; + ss << nNum; + return ss.str(); +} + +std::string CVrStringUtils::Int2HexStr(int nNum) +{ + std::stringstream ss; + ss << std::hex << std::setw(2) << std::setfill('0') << std::uppercase << nNum; // ʹ std::hex ־ʮʽ + return ss.str(); // ʹ str() ȡеַʾ +} + +std::string CVrStringUtils::Int2Str(unsigned int nNum) +{ + std::stringstream ss; + ss << nNum; + return ss.str(); +} + +std::string CVrStringUtils::Int2Str(unsigned long long nNum) +{ + std::stringstream ss; + ss << nNum; + return ss.str(); +} + +std::string CVrStringUtils::Int2str(long num) +{ + std::stringstream ss; + ss << num; + return ss.str(); +} + +std::vector CVrStringUtils::SplitString(std::string srcStr, std::string delimStr, bool repeatedCharIgnored) +{ + std::vector resultStringVector; + std::replace_if(srcStr.begin(), srcStr.end(), [&](const char& c) {if (delimStr.find(c) != std::string::npos) { return true; } else { return false; }}/*pred*/, delimStr.at(0));//ֵзָ滻Ϊһַַָͬĵһ + size_t pos = srcStr.find(delimStr.at(0)); + std::string addedString = ""; + while (pos != std::string::npos) { + addedString = srcStr.substr(0, pos); + if (!addedString.empty() || !repeatedCharIgnored) { + resultStringVector.push_back(addedString); + } + srcStr.erase(srcStr.begin(), srcStr.begin() + pos + 1); + pos = srcStr.find(delimStr.at(0)); + } + addedString = srcStr; + if (!addedString.empty() || !repeatedCharIgnored) { + resultStringVector.push_back(addedString); + } + return resultStringVector; +} + + +int CVrStringUtils::StringUpper(char *sData, int nLen) +{ + if (sData != nullptr && nLen != 0) + { + for (int i = 0; i < nLen; i++) + { + sData[i] = toupper(sData[i]); + } + } + return 0; +} + +int CVrStringUtils::StringLower(char *sData, int nLen) +{ + if (sData != nullptr && nLen != 0) + { + for (int i = 0; i < nLen; i++) + { + sData[i] = tolower(sData[i]); + } + } + return 0; +} + +/// 滻ַ +void CVrStringUtils::ReplaceString(std::string& src, const std::string& repSrc, const std::string& repDest) +{ + size_t pos = 0; + // ҵַʼλ + while ((pos = src.find(repSrc, pos)) != std::string::npos) + { + // 滻ҵַ + src.replace(pos, repSrc.length(), repDest); + // ƶ滻λã滻Ѿ滻IJ + pos += repDest.length(); + } +} + diff --git a/VrUtils/Src/VrTimeUtils.cpp b/VrUtils/Src/VrTimeUtils.cpp new file mode 100644 index 0000000..cfe87df --- /dev/null +++ b/VrUtils/Src/VrTimeUtils.cpp @@ -0,0 +1,31 @@ +#include "VrTimeUtils.h" + +CVrTimeUtils::CVrTimeUtils() +{ + m_begin = std::chrono::high_resolution_clock::now(); +} + + +CVrTimeUtils::~CVrTimeUtils() +{ +} + +void CVrTimeUtils::Update() +{ + m_begin = std::chrono::high_resolution_clock::now(); +} + +double CVrTimeUtils::GetElapsedSecond() +{ + return GetElapsedTimeInMicroSec() * 0.000001; +} + +double CVrTimeUtils::GetElapsedTimeInMilliSec() +{ + return GetElapsedTimeInMicroSec() * 0.001; +} + +long long CVrTimeUtils::GetElapsedTimeInMicroSec() +{ + return std::chrono::duration_cast(std::chrono::high_resolution_clock::now() - m_begin).count(); +} diff --git a/VrUtils/Src/getopt.c b/VrUtils/Src/getopt.c new file mode 100644 index 0000000..5a60b98 --- /dev/null +++ b/VrUtils/Src/getopt.c @@ -0,0 +1,764 @@ +// ֻWindowsƽ̨±getoptʵ֣ƽ̨ʹϵͳԴ +#ifdef _WIN32 + +/* Getopt for GNU. + NOTE: getopt is now part of the C library, so if you don't know what + "Keep this file name-space clean" means, talk to roland@gnu.ai.mit.edu + before changing it! + + Copyright (C) 1987, 88, 89, 90, 91, 92, 1993 + Free Software Foundation, Inc. + + This program 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, or (at your option) any + later version. + + This program 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 this program; if not, write to the Free Software + Foundation, 675 Mass Ave, Cambridge, MA 02139, USA. */ +#ifdef HAVE_CONFIG_H +#include "config.h" +#endif + +#ifndef __STDC__ +# ifndef const +# define const +# endif +#endif + +/* This tells Alpha OSF/1 not to define a getopt prototype in . */ +#ifndef _NO_PROTO +#define _NO_PROTO +#endif + +#include +#include "tailor.h" + +/* Comment out all this code if we are using the GNU C Library, and are not + actually compiling the library itself. This code is part of the GNU C + Library, but also included in many other GNU distributions. Compiling + and linking in this code is a waste when using the GNU C library + (especially if it is a shared library). Rather than having every GNU + program understand `configure --with-gnu-libc' and omit the object files, + it is simpler to just do this in the source for each such file. */ + +#if defined (_LIBC) || !defined (__GNU_LIBRARY__) + + +/* This needs to come after some library #include + to get __GNU_LIBRARY__ defined. */ +#ifdef __GNU_LIBRARY__ +/* Don't include stdlib.h for non-GNU C libraries because some of them + contain conflicting prototypes for getopt. */ +#include +#endif /* GNU C library. */ + +/* If GETOPT_COMPAT is defined, `+' as well as `--' can introduce a + long-named option. Because this is not POSIX.2 compliant, it is + being phased out. */ +/* #define GETOPT_COMPAT */ + +/* This version of `getopt' appears to the caller like standard Unix `getopt' + but it behaves differently for the user, since it allows the user + to intersperse the options with the other arguments. + + As `getopt' works, it permutes the elements of ARGV so that, + when it is done, all the options precede everything else. Thus + all application programs are extended to handle flexible argument order. + + Setting the environment variable POSIXLY_CORRECT disables permutation. + Then the behavior is completely standard. + + GNU application programs can use a third alternative mode in which + they can distinguish the relative order of options and other arguments. */ + +#include "getopt.h" + +/* For communication from `getopt' to the caller. + When `getopt' finds an option that takes an argument, + the argument value is returned here. + Also, when `ordering' is RETURN_IN_ORDER, + each non-option ARGV-element is returned here. */ + +char *optarg = 0; + +/* Index in ARGV of the next element to be scanned. + This is used for communication to and from the caller + and for communication between successive calls to `getopt'. + + On entry to `getopt', zero means this is the first call; initialize. + + When `getopt' returns EOF, this is the index of the first of the + non-option elements that the caller should itself scan. + + Otherwise, `optind' communicates from one call to the next + how much of ARGV has been scanned so far. */ + +/* XXX 1003.2 says this must be 1 before any call. */ +int optind = 0; + +/* The next char to be scanned in the option-element + in which the last option character we returned was found. + This allows us to pick up the scan where we left off. + + If this is zero, or a null string, it means resume the scan + by advancing to the next ARGV-element. */ + +static char *nextchar; + +/* Callers store zero here to inhibit the error message + for unrecognized options. */ + +int opterr = 1; + +/* Set to an option character which was unrecognized. + This must be initialized on some systems to avoid linking in the + system's own getopt implementation. */ + +#define BAD_OPTION '\0' +int optopt = BAD_OPTION; + +/* Describe how to deal with options that follow non-option ARGV-elements. + + If the caller did not specify anything, + the default is REQUIRE_ORDER if the environment variable + POSIXLY_CORRECT is defined, PERMUTE otherwise. + + REQUIRE_ORDER means don't recognize them as options; + stop option processing when the first non-option is seen. + This is what Unix does. + This mode of operation is selected by either setting the environment + variable POSIXLY_CORRECT, or using `+' as the first character + of the list of option characters. + + PERMUTE is the default. We permute the contents of ARGV as we scan, + so that eventually all the non-options are at the end. This allows options + to be given in any order, even with programs that were not written to + expect this. + + RETURN_IN_ORDER is an option available to programs that were written + to expect options and other ARGV-elements in any order and that care about + the ordering of the two. We describe each non-option ARGV-element + as if it were the argument of an option with character code 1. + Using `-' as the first character of the list of option characters + selects this mode of operation. + + The special argument `--' forces an end of option-scanning regardless + of the value of `ordering'. In the case of RETURN_IN_ORDER, only + `--' can cause `getopt' to return EOF with `optind' != ARGC. */ + +static enum +{ + REQUIRE_ORDER, PERMUTE, RETURN_IN_ORDER +} ordering; + +#include + +#ifdef __GNU_LIBRARY__ +/* We want to avoid inclusion of string.h with non-GNU libraries + because there are many ways it can cause trouble. + On some systems, it contains special magic macros that don't work + in GCC. */ + +#define my_index strchr +#define my_strlen strlen +#else + +/* Avoid depending on library functions or files + whose names are inconsistent. */ + +#if __STDC__ || defined(PROTO) +extern char *getenv(const char *name); +extern int strcmp (const char *s1, const char *s2); +#ifdef _WIN32 +extern int strncmp(const char *s1, const char *s2, int n); +#endif // _WIN32 + +static int my_strlen(const char *s); +static char *my_index (const char *str, int chr); +#else +extern char *getenv (); +#endif + +static int +my_strlen (str) + const char *str; +{ + int n = 0; + while (*str++) + n++; + return n; +} + +static char * +my_index (str, chr) + const char *str; + int chr; +{ + while (*str) + { + if (*str == chr) + return (char *) str; + str++; + } + return 0; +} + +#endif /* GNU C library. */ + +/* Handle permutation of arguments. */ + +/* Describe the part of ARGV that contains non-options that have + been skipped. `first_nonopt' is the index in ARGV of the first of them; + `last_nonopt' is the index after the last of them. */ + +static int first_nonopt; +static int last_nonopt; + +/* Exchange two adjacent subsequences of ARGV. + One subsequence is elements [first_nonopt,last_nonopt) + which contains all the non-options that have been skipped so far. + The other is elements [last_nonopt,optind), which contains all + the options processed since those non-options were skipped. + + `first_nonopt' and `last_nonopt' are relocated so that they describe + the new indices of the non-options in ARGV after they are moved. + + To perform the swap, we first reverse the order of all elements. So + all options now come before all non options, but they are in the + wrong order. So we put back the options and non options in original + order by reversing them again. For example: + original input: a b c -x -y + reverse all: -y -x c b a + reverse options: -x -y c b a + reverse non options: -x -y a b c +*/ + +#if __STDC__ || defined(PROTO) +static void exchange (char **argv); +#endif + +static void +exchange (argv) + char **argv; +{ + char *temp, **first, **last; + + /* Reverse all the elements [first_nonopt, optind) */ + first = &argv[first_nonopt]; + last = &argv[optind-1]; + while (first < last) { + temp = *first; *first = *last; *last = temp; first++; last--; + } + /* Put back the options in order */ + first = &argv[first_nonopt]; + first_nonopt += (optind - last_nonopt); + last = &argv[first_nonopt - 1]; + while (first < last) { + temp = *first; *first = *last; *last = temp; first++; last--; + } + + /* Put back the non options in order */ + first = &argv[first_nonopt]; + last_nonopt = optind; + last = &argv[last_nonopt-1]; + while (first < last) { + temp = *first; *first = *last; *last = temp; first++; last--; + } +} + +/* Scan elements of ARGV (whose length is ARGC) for option characters + given in OPTSTRING. + + If an element of ARGV starts with '-', and is not exactly "-" or "--", + then it is an option element. The characters of this element + (aside from the initial '-') are option characters. If `getopt' + is called repeatedly, it returns successively each of the option characters + from each of the option elements. + + If `getopt' finds another option character, it returns that character, + updating `optind' and `nextchar' so that the next call to `getopt' can + resume the scan with the following option character or ARGV-element. + + If there are no more option characters, `getopt' returns `EOF'. + Then `optind' is the index in ARGV of the first ARGV-element + that is not an option. (The ARGV-elements have been permuted + so that those that are not options now come last.) + + OPTSTRING is a string containing the legitimate option characters. + If an option character is seen that is not listed in OPTSTRING, + return BAD_OPTION after printing an error message. If you set `opterr' to + zero, the error message is suppressed but we still return BAD_OPTION. + + If a char in OPTSTRING is followed by a colon, that means it wants an arg, + so the following text in the same ARGV-element, or the text of the following + ARGV-element, is returned in `optarg'. Two colons mean an option that + wants an optional arg; if there is text in the current ARGV-element, + it is returned in `optarg', otherwise `optarg' is set to zero. + + If OPTSTRING starts with `-' or `+', it requests different methods of + handling the non-option ARGV-elements. + See the comments about RETURN_IN_ORDER and REQUIRE_ORDER, above. + + Long-named options begin with `--' instead of `-'. + Their names may be abbreviated as long as the abbreviation is unique + or is an exact match for some defined option. If they have an + argument, it follows the option name in the same ARGV-element, separated + from the option name by a `=', or else the in next ARGV-element. + When `getopt' finds a long-named option, it returns 0 if that option's + `flag' field is nonzero, the value of the option's `val' field + if the `flag' field is zero. + + The elements of ARGV aren't really const, because we permute them. + But we pretend they're const in the prototype to be compatible + with other systems. + + LONGOPTS is a vector of `struct option' terminated by an + element containing a name which is zero. + + LONGIND returns the index in LONGOPT of the long-named option found. + It is only valid when a long-named option has been found by the most + recent call. + + If LONG_ONLY is nonzero, '-' as well as '--' can introduce + long-named options. */ + +int +_getopt_internal (argc, argv, optstring, longopts, longind, long_only) + int argc; + char *const *argv; + const char *optstring; + const struct option *longopts; + int *longind; + int long_only; +{ + int option_index; + + optarg = 0; + + /* Initialize the internal data when the first call is made. + Start processing options with ARGV-element 1 (since ARGV-element 0 + is the program name); the sequence of previously skipped + non-option ARGV-elements is empty. */ + + if (optind == 0) + { + first_nonopt = last_nonopt = optind = 1; + + nextchar = NULL; + + /* Determine how to handle the ordering of options and nonoptions. */ + + if (optstring[0] == '-') + { + ordering = RETURN_IN_ORDER; + ++optstring; + } + else if (optstring[0] == '+') + { + ordering = REQUIRE_ORDER; + ++optstring; + } + else if (getenv ("POSIXLY_CORRECT") != NULL) + ordering = REQUIRE_ORDER; + else + ordering = PERMUTE; + } + + if (nextchar == NULL || *nextchar == '\0') + { + if (ordering == PERMUTE) + { + /* If we have just processed some options following some non-options, + exchange them so that the options come first. */ + + if (first_nonopt != last_nonopt && last_nonopt != optind) + exchange ((char **) argv); + else if (last_nonopt != optind) + first_nonopt = optind; + + /* Now skip any additional non-options + and extend the range of non-options previously skipped. */ + + while (optind < argc + && (argv[optind][0] != '-' || argv[optind][1] == '\0') +#ifdef GETOPT_COMPAT + && (longopts == NULL + || argv[optind][0] != '+' || argv[optind][1] == '\0') +#endif /* GETOPT_COMPAT */ + ) + optind++; + last_nonopt = optind; + } + + /* Special ARGV-element `--' means premature end of options. + Skip it like a null option, + then exchange with previous non-options as if it were an option, + then skip everything else like a non-option. */ + + if (optind != argc && !strcmp (argv[optind], "--")) + { + optind++; + + if (first_nonopt != last_nonopt && last_nonopt != optind) + exchange ((char **) argv); + else if (first_nonopt == last_nonopt) + first_nonopt = optind; + last_nonopt = argc; + + optind = argc; + } + + /* If we have done all the ARGV-elements, stop the scan + and back over any non-options that we skipped and permuted. */ + + if (optind == argc) + { + /* Set the next-arg-index to point at the non-options + that we previously skipped, so the caller will digest them. */ + if (first_nonopt != last_nonopt) + optind = first_nonopt; + return EOF; + } + + /* If we have come to a non-option and did not permute it, + either stop the scan or describe it to the caller and pass it by. */ + + if ((argv[optind][0] != '-' || argv[optind][1] == '\0') +#ifdef GETOPT_COMPAT + && (longopts == NULL + || argv[optind][0] != '+' || argv[optind][1] == '\0') +#endif /* GETOPT_COMPAT */ + ) + { + if (ordering == REQUIRE_ORDER) + return EOF; + optarg = argv[optind++]; + return 1; + } + + /* We have found another option-ARGV-element. + Start decoding its characters. */ + + nextchar = (argv[optind] + 1 + + (longopts != NULL && argv[optind][1] == '-')); + } + + if (longopts != NULL + && ((argv[optind][0] == '-' + && (argv[optind][1] == '-' || long_only)) +#ifdef GETOPT_COMPAT + || argv[optind][0] == '+' +#endif /* GETOPT_COMPAT */ + )) + { + const struct option *p; + char *s = nextchar; + int exact = 0; + int ambig = 0; + const struct option *pfound = NULL; + int indfound = 0; + + while (*s && *s != '=') + s++; + + /* Test all options for either exact match or abbreviated matches. */ + for (p = longopts, option_index = 0; p->name; + p++, option_index++) + if (!strncmp (p->name, nextchar, s - nextchar)) + { + if (s - nextchar == my_strlen (p->name)) + { + /* Exact match found. */ + pfound = p; + indfound = option_index; + exact = 1; + break; + } + else if (pfound == NULL) + { + /* First nonexact match found. */ + pfound = p; + indfound = option_index; + } + else + /* Second nonexact match found. */ + ambig = 1; + } + + if (ambig && !exact) + { + if (opterr) + fprintf (stderr, "%s: option `%s' is ambiguous\n", + argv[0], argv[optind]); + nextchar += my_strlen (nextchar); + optind++; + return BAD_OPTION; + } + + if (pfound != NULL) + { + option_index = indfound; + optind++; + if (*s) + { + /* Don't test has_arg with >, because some C compilers don't + allow it to be used on enums. */ + if (pfound->has_arg) + optarg = s + 1; + else + { + if (opterr) + { + if (argv[optind - 1][1] == '-') + /* --option */ + fprintf (stderr, + "%s: option `--%s' doesn't allow an argument\n", + argv[0], pfound->name); + else + /* +option or -option */ + fprintf (stderr, + "%s: option `%c%s' doesn't allow an argument\n", + argv[0], argv[optind - 1][0], pfound->name); + } + nextchar += my_strlen (nextchar); + return BAD_OPTION; + } + } + else if (pfound->has_arg == 1) + { + if (optind < argc) + optarg = argv[optind++]; + else + { + if (opterr) + fprintf (stderr, "%s: option `%s' requires an argument\n", + argv[0], argv[optind - 1]); + nextchar += my_strlen (nextchar); + return optstring[0] == ':' ? ':' : BAD_OPTION; + } + } + nextchar += my_strlen (nextchar); + if (longind != NULL) + *longind = option_index; + if (pfound->flag) + { + *(pfound->flag) = pfound->val; + return 0; + } + return pfound->val; + } + /* Can't find it as a long option. If this is not getopt_long_only, + or the option starts with '--' or is not a valid short + option, then it's an error. + Otherwise interpret it as a short option. */ + if (!long_only || argv[optind][1] == '-' +#ifdef GETOPT_COMPAT + || argv[optind][0] == '+' +#endif /* GETOPT_COMPAT */ + || my_index (optstring, *nextchar) == NULL) + { + if (opterr) + { + if (argv[optind][1] == '-') + /* --option */ + fprintf (stderr, "%s: unrecognized option `--%s'\n", + argv[0], nextchar); + else + /* +option or -option */ + fprintf (stderr, "%s: unrecognized option `%c%s'\n", + argv[0], argv[optind][0], nextchar); + } + nextchar = (char *) ""; + optind++; + return BAD_OPTION; + } + } + + /* Look at and handle the next option-character. */ + + { + char c = *nextchar++; + char *temp = my_index (optstring, c); + + /* Increment `optind' when we start to process its last character. */ + if (*nextchar == '\0') + ++optind; + + if (temp == NULL || c == ':') + { + if (opterr) + { +#if 0 + if (c < 040 || c >= 0177) + fprintf (stderr, "%s: unrecognized option, character code 0%o\n", + argv[0], c); + else + fprintf (stderr, "%s: unrecognized option `-%c'\n", argv[0], c); +#else + /* 1003.2 specifies the format of this message. */ + fprintf (stderr, "%s: illegal option -- %c\n", argv[0], c); +#endif + } + optopt = c; + return BAD_OPTION; + } + if (temp[1] == ':') + { + if (temp[2] == ':') + { + /* This is an option that accepts an argument optionally. */ + if (*nextchar != '\0') + { + optarg = nextchar; + optind++; + } + else + optarg = 0; + nextchar = NULL; + } + else + { + /* This is an option that requires an argument. */ + if (*nextchar != '\0') + { + optarg = nextchar; + /* If we end this ARGV-element by taking the rest as an arg, + we must advance to the next element now. */ + optind++; + } + else if (optind == argc) + { + if (opterr) + { +#if 0 + fprintf (stderr, "%s: option `-%c' requires an argument\n", + argv[0], c); +#else + /* 1003.2 specifies the format of this message. */ + fprintf (stderr, "%s: option requires an argument -- %c\n", + argv[0], c); +#endif + } + optopt = c; + if (optstring[0] == ':') + c = ':'; + else + c = BAD_OPTION; + } + else + /* We already incremented `optind' once; + increment it again when taking next ARGV-elt as argument. */ + optarg = argv[optind++]; + nextchar = NULL; + } + } + return c; + } +} + +int +getopt (argc, argv, optstring) + int argc; + char *const *argv; + const char *optstring; +{ + return _getopt_internal (argc, argv, optstring, + (const struct option *) 0, + (int *) 0, + 0); +} + +int +getopt_long (argc, argv, options, long_options, opt_index) + int argc; + char *const *argv; + const char *options; + const struct option *long_options; + int *opt_index; +{ + return _getopt_internal (argc, argv, options, long_options, opt_index, 0); +} + +#endif /* _LIBC or not __GNU_LIBRARY__. */ + +#ifdef TEST + +/* Compile with -DTEST to make an executable for use in testing + the above definition of `getopt'. */ + +int +main (argc, argv) + int argc; + char **argv; +{ + int c; + int digit_optind = 0; + + while (1) + { + int this_option_optind = optind ? optind : 1; + + c = getopt (argc, argv, "abc:d:0123456789"); + if (c == EOF) + break; + + switch (c) + { + case '0': + case '1': + case '2': + case '3': + case '4': + case '5': + case '6': + case '7': + case '8': + case '9': + if (digit_optind != 0 && digit_optind != this_option_optind) + printf ("digits occur in two different argv-elements.\n"); + digit_optind = this_option_optind; + printf ("option %c\n", c); + break; + + case 'a': + printf ("option a\n"); + break; + + case 'b': + printf ("option b\n"); + break; + + case 'c': + printf ("option c with value `%s'\n", optarg); + break; + + case BAD_OPTION: + break; + + default: + printf ("?? getopt returned character code 0%o ??\n", c); + } + } + + if (optind < argc) + { + printf ("non-option ARGV-elements: "); + while (optind < argc) + printf ("%s ", argv[optind++]); + printf ("\n"); + } + + exit (0); +} + +#endif /* TEST */ + +#endif /* _WIN32 */ + diff --git a/VrUtils/VrUtils.pro b/VrUtils/VrUtils.pro new file mode 100644 index 0000000..95c76e3 --- /dev/null +++ b/VrUtils/VrUtils.pro @@ -0,0 +1,169 @@ +QT -= gui + +TEMPLATE = lib +CONFIG += staticlib +DEFINES += TINYXML2_EXPORT +DEFINES += HAVE_SNPRINTF +DEFINES += LOG4CPP_HAVE_SSTREAM=1 +DEFINES += VR_UTILS_EXPORTS +CONFIG += c++11 + +# Unix平台特定配置 +unix:!macx { + DEFINES += LOG4CPP_HAVE_UNISTD_H + # 确保所有符号导出（对于静态库） + QMAKE_CXXFLAGS += -fPIC +} + +# You can make your code fail to compile if it uses deprecated APIs. +# In order to do so, uncomment the following line. +#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000 # disables all the APIs deprecated before Qt 6.0.0 +# 启用 auto_ptr 支持 (for log4cpp compatibility) +win32-msvc*:QMAKE_CXXFLAGS += /D_HAS_AUTO_PTR_ETC=1 + +HEADERS += \ + Inc/IVrUtils.h \ + Inc/VrDateUtils.h \ + Inc/VrFileUtils.h \ + Inc/VrLog.h \ + Inc/VrNetUtils.h \ + Inc/VrTimeUtils.h \ + ini/ConvertUTF.h \ + ini/SimpleIni.h \ + log4cpp/include/log4cpp/AbortAppender.hh \ + log4cpp/include/log4cpp/Appender.hh \ + log4cpp/include/log4cpp/AppenderSkeleton.hh \ + log4cpp/include/log4cpp/AppendersFactory.hh \ + log4cpp/include/log4cpp/BasicConfigurator.hh \ + log4cpp/include/log4cpp/BasicLayout.hh \ + log4cpp/include/log4cpp/BufferingAppender.hh \ + log4cpp/include/log4cpp/Category.hh \ + log4cpp/include/log4cpp/CategoryStream.hh \ + log4cpp/include/log4cpp/Configurator.hh \ + log4cpp/include/log4cpp/DailyRollingFileAppender.hh \ + log4cpp/include/log4cpp/Export.hh \ + log4cpp/include/log4cpp/FactoryParams.hh \ + log4cpp/include/log4cpp/FileAppender.hh \ + log4cpp/include/log4cpp/Filter.hh \ + log4cpp/include/log4cpp/FixedContextCategory.hh \ + log4cpp/include/log4cpp/HierarchyMaintainer.hh \ + log4cpp/include/log4cpp/IdsaAppender.hh \ + log4cpp/include/log4cpp/Layout.hh \ + log4cpp/include/log4cpp/LayoutAppender.hh \ + log4cpp/include/log4cpp/LayoutsFactory.hh \ + log4cpp/include/log4cpp/LevelEvaluator.hh \ + log4cpp/include/log4cpp/LoggingEvent.hh \ + log4cpp/include/log4cpp/Manipulator.hh \ + log4cpp/include/log4cpp/NDC.hh \ + log4cpp/include/log4cpp/NTEventLogAppender.hh \ + log4cpp/include/log4cpp/OstreamAppender.hh \ + log4cpp/include/log4cpp/PassThroughLayout.hh \ + log4cpp/include/log4cpp/PatternLayout.hh \ + log4cpp/include/log4cpp/Portability.hh \ + log4cpp/include/log4cpp/Priority.hh \ + log4cpp/include/log4cpp/PropertyConfigurator.hh \ + log4cpp/include/log4cpp/RemoteSyslogAppender.hh \ + log4cpp/include/log4cpp/RollingFileAppender.hh \ + log4cpp/include/log4cpp/SimpleConfigurator.hh \ + log4cpp/include/log4cpp/SimpleLayout.hh \ + log4cpp/include/log4cpp/SmtpAppender.hh \ + log4cpp/include/log4cpp/StringQueueAppender.hh \ + log4cpp/include/log4cpp/SyslogAppender.hh \ + log4cpp/include/log4cpp/TimeStamp.hh \ + log4cpp/include/log4cpp/TriggeringEventEvaluator.hh \ + log4cpp/include/log4cpp/TriggeringEventEvaluatorFactory.hh \ + log4cpp/include/log4cpp/Win32DebugAppender.hh \ + log4cpp/include/log4cpp/config-MinGW32.h \ + log4cpp/include/log4cpp/config-openvms.h \ + log4cpp/include/log4cpp/config-win32-stlport-boost.h \ + log4cpp/include/log4cpp/config-win32.h \ + log4cpp/include/log4cpp/convenience.h \ + log4cpp/include/log4cpp/threading/BoostThreads.hh \ + log4cpp/include/log4cpp/threading/DummyThreads.hh \ + log4cpp/include/log4cpp/threading/MSThreads.hh \ + log4cpp/include/log4cpp/threading/OmniThreads.hh \ + log4cpp/include/log4cpp/threading/PThreads.hh \ + log4cpp/include/log4cpp/threading/Threading.hh \ + log4cpp/src/Localtime.hh \ + log4cpp/src/PortabilityImpl.hh \ + log4cpp/src/Properties.hh \ + log4cpp/src/PropertyConfiguratorImpl.hh \ + log4cpp/src/StringUtil.hh \ + tinyxml2/tinyxml2.h \ + jsoncpp/json/json.h \ + jsoncpp/json/reader.h \ + jsoncpp/json/value.h \ + jsoncpp/json/writer.h + +SOURCES += \ + Src/VrDateUtils.cpp \ + Src/VrFileUtils.cpp \ + Src/VrLog.cpp \ + Src/VrNetUtils.cpp \ + Src/VrTimeUtils.cpp \ + ini/ConvertUTF.c \ + log4cpp/src/AbortAppender.cpp \ + log4cpp/src/Appender.cpp \ + log4cpp/src/AppenderSkeleton.cpp \ + log4cpp/src/AppendersFactory.cpp \ + log4cpp/src/BasicConfigurator.cpp \ + log4cpp/src/BasicLayout.cpp \ + log4cpp/src/BufferingAppender.cpp \ + log4cpp/src/Category.cpp \ + log4cpp/src/CategoryStream.cpp \ + log4cpp/src/Configurator.cpp \ + log4cpp/src/DailyRollingFileAppender.cpp \ + log4cpp/src/DllMain.cpp \ + log4cpp/src/DummyThreads.cpp \ + log4cpp/src/FactoryParams.cpp \ + log4cpp/src/FileAppender.cpp \ + log4cpp/src/Filter.cpp \ + log4cpp/src/FixedContextCategory.cpp \ + log4cpp/src/HierarchyMaintainer.cpp \ + log4cpp/src/IdsaAppender.cpp \ + log4cpp/src/LayoutAppender.cpp \ + log4cpp/src/LayoutsFactory.cpp \ + log4cpp/src/LevelEvaluator.cpp \ + log4cpp/src/Localtime.cpp \ + log4cpp/src/LoggingEvent.cpp \ + log4cpp/src/MSThreads.cpp \ + log4cpp/src/Manipulator.cpp \ + log4cpp/src/NDC.cpp \ + log4cpp/src/NTEventLogAppender.cpp \ + log4cpp/src/OmniThreads.cpp \ + log4cpp/src/OstreamAppender.cpp \ + log4cpp/src/PThreads.cpp \ + log4cpp/src/PassThroughLayout.cpp \ + log4cpp/src/PatternLayout.cpp \ + log4cpp/src/PortabilityImpl.cpp \ + log4cpp/src/Priority.cpp \ + log4cpp/src/Properties.cpp \ + log4cpp/src/PropertyConfigurator.cpp \ + log4cpp/src/PropertyConfiguratorImpl.cpp \ + log4cpp/src/RemoteSyslogAppender.cpp \ + log4cpp/src/RollingFileAppender.cpp \ + log4cpp/src/SimpleConfigurator.cpp \ + log4cpp/src/SimpleLayout.cpp \ + log4cpp/src/SmtpAppender.cpp \ + log4cpp/src/StringQueueAppender.cpp \ + log4cpp/src/StringUtil.cpp \ + log4cpp/src/SyslogAppender.cpp \ + log4cpp/src/TimeStamp.cpp \ + log4cpp/src/TriggeringEventEvaluatorFactory.cpp \ + log4cpp/src/Win32DebugAppender.cpp \ + log4cpp/src/snprintf.c \ + tinyxml2/tinyxml2.cpp \ + jsoncpp/json_reader.cpp \ + jsoncpp/json_value.cpp \ + jsoncpp/json_writer.cpp + + +INCLUDEPATH += $$PWD/Inc +INCLUDEPATH += $$PWD/jsoncpp +INCLUDEPATH += $$PWD/log4cpp/include + +# Default rules for deployment. +unix { + target.path = /usr/lib +} +!isEmpty(target.path): INSTALLS += target diff --git a/VrUtils/crc/checksum.h b/VrUtils/crc/checksum.h new file mode 100644 index 0000000..e41798e --- /dev/null +++ b/VrUtils/crc/checksum.h @@ -0,0 +1,116 @@ +/* + * Library: libcrc + * File: include/checksum.h + * Author: Lammert Bies + * + * This file is licensed under the MIT License as stated below + * + * Copyright (c) 1999-2018 Lammert Bies + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + * + * Description + * ----------- + * The headerfile include/checksum.h contains the definitions and prototypes + * for routines that can be used to calculate several kinds of checksums. + */ + +#ifndef DEF_LIBCRC_CHECKSUM_H +#define DEF_LIBCRC_CHECKSUM_H + +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/* + * #define CRC_POLY_xxxx + * + * The constants of the form CRC_POLY_xxxx define the polynomials for some well + * known CRC calculations. + */ + +#define CRC_POLY_16 0xA001 +#define CRC_POLY_32 0xEDB88320ul +#define CRC_POLY_64 0x42F0E1EBA9EA3693ull +#define CRC_POLY_CCITT 0x1021 +#define CRC_POLY_DNP 0xA6BC +#define CRC_POLY_KERMIT 0x8408 +#define CRC_POLY_SICK 0x8005 + +/* + * #define CRC_START_xxxx + * + * The constants of the form CRC_START_xxxx define the values that are used for + * initialization of a CRC value for common used calculation methods. + */ + +#define CRC_START_8 0x00 +#define CRC_START_16 0x0000 +#define CRC_START_MODBUS 0xFFFF +#define CRC_START_XMODEM 0x0000 +#define CRC_START_CCITT_1D0F 0x1D0F +#define CRC_START_CCITT_FFFF 0xFFFF +#define CRC_START_KERMIT 0x0000 +#define CRC_START_SICK 0x0000 +#define CRC_START_DNP 0x0000 +#define CRC_START_32 0xFFFFFFFFul +#define CRC_START_64_ECMA 0x0000000000000000ull +#define CRC_START_64_WE 0xFFFFFFFFFFFFFFFFull + +/* + * Prototype list of global functions + */ + +unsigned char * checksum_NMEA( const unsigned char *input_str, unsigned char *result ); +uint8_t crc_8( const unsigned char *input_str, size_t num_bytes ); +uint16_t crc_16( const unsigned char *input_str, size_t num_bytes ); +uint32_t crc_32( const unsigned char *input_str, size_t num_bytes ); +uint64_t crc_64_ecma( const unsigned char *input_str, size_t num_bytes ); +uint64_t crc_64_we( const unsigned char *input_str, size_t num_bytes ); +uint16_t crc_ccitt_1d0f( const unsigned char *input_str, size_t num_bytes ); +uint16_t crc_ccitt_ffff( const unsigned char *input_str, size_t num_bytes ); +uint16_t crc_dnp( const unsigned char *input_str, size_t num_bytes ); +uint16_t crc_kermit( const unsigned char *input_str, size_t num_bytes ); +uint16_t crc_modbus( const unsigned char *input_str, size_t num_bytes ); +uint16_t crc_sick( const unsigned char *input_str, size_t num_bytes ); +uint16_t crc_xmodem( const unsigned char *input_str, size_t num_bytes ); +uint8_t update_crc_8( uint8_t crc, unsigned char c ); +uint16_t update_crc_16( uint16_t crc, unsigned char c ); +uint32_t update_crc_32( uint32_t crc, unsigned char c ); +uint64_t update_crc_64_ecma( uint64_t crc, unsigned char c ); +uint16_t update_crc_ccitt( uint16_t crc, unsigned char c ); +uint16_t update_crc_dnp( uint16_t crc, unsigned char c ); +uint16_t update_crc_kermit( uint16_t crc, unsigned char c ); +uint16_t update_crc_sick( uint16_t crc, unsigned char c, unsigned char prev_byte ); + +/* + * Global CRC lookup tables + */ + +extern const uint32_t crc_tab32[]; +extern const uint64_t crc_tab64[]; + +#ifdef __cplusplus +}// Extern C +#endif + +#endif // DEF_LIBCRC_CHECKSUM_H diff --git a/VrUtils/crc/src/crc16.c b/VrUtils/crc/src/crc16.c new file mode 100644 index 0000000..d99273a --- /dev/null +++ b/VrUtils/crc/src/crc16.c @@ -0,0 +1,149 @@ +/* + * Library: libcrc + * File: src/crc16.c + * Author: Lammert Bies + * + * This file is licensed under the MIT License as stated below + * + * Copyright (c) 1999-2016 Lammert Bies + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + * + * Description + * ----------- + * The source file src/crc16.c contains routines which calculate the common + * CRC16 cyclic redundancy check values for an incomming byte string. + */ + +#include +#include +#include "checksum.h" + +static void init_crc16_tab( void ); + +static bool crc_tab16_init = false; +static uint16_t crc_tab16[256]; + +/* + * uint16_t crc_16( const unsigned char *input_str, size_t num_bytes ); + * + * The function crc_16() calculates the 16 bits CRC16 in one pass for a byte + * string of which the beginning has been passed to the function. The number of + * bytes to check is also a parameter. The number of the bytes in the string is + * limited by the constant SIZE_MAX. + */ + +uint16_t crc_16( const unsigned char *input_str, size_t num_bytes ) { + + uint16_t crc; + const unsigned char *ptr; + size_t a; + + if ( ! crc_tab16_init ) init_crc16_tab(); + + crc = CRC_START_16; + ptr = input_str; + + if ( ptr != NULL ) for (a=0; a> 8) ^ crc_tab16[ (crc ^ (uint16_t) *ptr++) & 0x00FF ]; + } + + return crc; + +} /* crc_16 */ + +/* + * uint16_t crc_modbus( const unsigned char *input_str, size_t num_bytes ); + * + * The function crc_modbus() calculates the 16 bits Modbus CRC in one pass for + * a byte string of which the beginning has been passed to the function. The + * number of bytes to check is also a parameter. + */ + +uint16_t crc_modbus( const unsigned char *input_str, size_t num_bytes ) { + + uint16_t crc; + const unsigned char *ptr; + size_t a; + + if ( ! crc_tab16_init ) init_crc16_tab(); + + crc = CRC_START_MODBUS; + ptr = input_str; + + if ( ptr != NULL ) for (a=0; a> 8) ^ crc_tab16[ (crc ^ (uint16_t) *ptr++) & 0x00FF ]; + } + + return crc; + +} /* crc_modbus */ + +/* + * uint16_t update_crc_16( uint16_t crc, unsigned char c ); + * + * The function update_crc_16() calculates a new CRC-16 value based on the + * previous value of the CRC and the next byte of data to be checked. + */ + +uint16_t update_crc_16( uint16_t crc, unsigned char c ) { + + if ( ! crc_tab16_init ) init_crc16_tab(); + + return (crc >> 8) ^ crc_tab16[ (crc ^ (uint16_t) c) & 0x00FF ]; + +} /* update_crc_16 */ + +/* + * static void init_crc16_tab( void ); + * + * For optimal performance uses the CRC16 routine a lookup table with values + * that can be used directly in the XOR arithmetic in the algorithm. This + * lookup table is calculated by the init_crc16_tab() routine, the first time + * the CRC function is called. + */ + +static void init_crc16_tab( void ) { + + uint16_t i; + uint16_t j; + uint16_t crc; + uint16_t c; + + for (i=0; i<256; i++) { + + crc = 0; + c = i; + + for (j=0; j<8; j++) { + + if ( (crc ^ c) & 0x0001 ) crc = ( crc >> 1 ) ^ CRC_POLY_16; + else crc = crc >> 1; + + c = c >> 1; + } + + crc_tab16[i] = crc; + } + + crc_tab16_init = true; + +} /* init_crc16_tab */ diff --git a/VrUtils/crc/src/crc32.c b/VrUtils/crc/src/crc32.c new file mode 100644 index 0000000..99ae490 --- /dev/null +++ b/VrUtils/crc/src/crc32.c @@ -0,0 +1,81 @@ +/* + * Library: libcrc + * File: src/crc32.c + * Author: Lammert Bies + * + * This file is licensed under the MIT License as stated below + * + * Copyright (c) 1999-2016 Lammert Bies + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + * + * Description + * ----------- + * The source file src/crc32.c contains the routines which are needed to + * calculate a 32 bit CRC value of a sequence of bytes. + */ + +#include +#include +#include "checksum.h" + +/* + * Include the lookup table for the CRC 32 calculation + */ + +//#include "../tab/gentab32.inc" + +/* + * uint32_t crc_32( const unsigned char *input_str, size_t num_bytes ); + * + * The function crc_32() calculates in one pass the common 32 bit CRC value for + * a byte string that is passed to the function together with a parameter + * indicating the length. + */ + +uint32_t crc_32( const unsigned char *input_str, size_t num_bytes ) { + + uint32_t crc; + const unsigned char *ptr; + size_t a; + + crc = CRC_START_32; + ptr = input_str; + + if ( ptr != NULL ) for (a=0; a> 8) ^ crc_tab32[ (crc ^ (uint32_t) *ptr++) & 0x000000FFul ]; + } + + return (crc ^ 0xFFFFFFFFul); + +} /* crc_32 */ + +/* + * uint32_t update_crc_32( uint32_t crc, unsigned char c ); + * + * The function update_crc_32() calculates a new CRC-32 value based on the + * previous value of the CRC and the next byte of the data to be checked. + */ + +uint32_t update_crc_32( uint32_t crc, unsigned char c ) { + + return (crc >> 8) ^ crc_tab32[ (crc ^ (uint32_t) c) & 0x000000FFul ]; + +} /* update_crc_32 */ diff --git a/VrUtils/crc/src/crc64.c b/VrUtils/crc/src/crc64.c new file mode 100644 index 0000000..e533062 --- /dev/null +++ b/VrUtils/crc/src/crc64.c @@ -0,0 +1,107 @@ +/* + * Library: libcrc + * File: src/crc64.c + * Author: Lammert Bies + * + * This file is licensed under the MIT License as stated below + * + * Copyright (c) 2016 Lammert Bies + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + * + * Description + * ----------- + * The source file src/crc64.c contains the routines which are needed to + * calculate a 64 bit CRC value of a sequence of bytes. + */ + +#include +#include +#include "checksum.h" + +/* + * Include the lookup table for the CRC 64 calculation + */ + +//#include "../tab/gentab64.inc" + +/* + * uint64_t crc_64_ecma( const unsigned char *input_str, size_t num_bytes ); + * + * The function crc_64_ecma() calculates in one pass the ECMA 64 bit CRC value + * for a byte string that is passed to the function together with a parameter + * indicating the length. + */ + +uint64_t crc_64_ecma( const unsigned char *input_str, size_t num_bytes ) { + + uint64_t crc; + const unsigned char *ptr; + size_t a; + + crc = CRC_START_64_ECMA; + ptr = input_str; + + if ( ptr != NULL ) for (a=0; a> 56) ^ (uint64_t) *ptr++) & 0x00000000000000FFull ]; + } + + return crc; + +} /* crc_64_ecma */ + +/* + * uint64_t crc_64_we( const unsigned char *input_str, size_t num_bytes ); + * + * The function crc_64_we() calculates in one pass the CRC64-WE 64 bit CRC + * value for a byte string that is passed to the function together with a + * parameter indicating the length. + */ + +uint64_t crc_64_we( const unsigned char *input_str, size_t num_bytes ) { + + uint64_t crc; + const unsigned char *ptr; + size_t a; + + crc = CRC_START_64_WE; + ptr = input_str; + + if ( ptr != NULL ) for (a=0; a> 56) ^ (uint64_t) *ptr++) & 0x00000000000000FFull ]; + } + + return crc ^ 0xFFFFFFFFFFFFFFFFull; + +} /* crc_64_we */ + +/* + * uint64_t update_crc_64( uint64_t crc, unsigned char c ); + * + * The function update_crc_64() calculates a new CRC-64 value based on the + * previous value of the CRC and the next byte of the data to be checked. + */ + +uint64_t update_crc_64( uint64_t crc, unsigned char c ) { + + return (crc << 8) ^ crc_tab64[ ((crc >> 56) ^ (uint64_t) c) & 0x00000000000000FFull ]; + +} /* update_crc_64 */ diff --git a/VrUtils/crc/src/crc8.c b/VrUtils/crc/src/crc8.c new file mode 100644 index 0000000..2556cbd --- /dev/null +++ b/VrUtils/crc/src/crc8.c @@ -0,0 +1,103 @@ +/* + * Library: libcrc + * File: src/crc8.c + * Author: Lammert Bies + * + * This file is licensed under the MIT License as stated below + * + * Copyright (c) 1999-2016 Lammert Bies + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + * + * Description + * ----------- + * The source file src/crc8.c contains routines for the calculation of 8 bit + * CRC values according to the calculation rules used in the SHT1x and SHT7x + * series of temperature and humidity sensors. + */ + +#include +#include "checksum.h" + +/* + * static uint8_t sht75_crc_table[]; + * + * The SHT75 humidity sensor is capable of calculating an 8 bit CRC checksum to + * ensure data integrity. The lookup table crc_table[] is used to recalculate + * the CRC. + */ + +static uint8_t sht75_crc_table[] = { + + 0, 49, 98, 83, 196, 245, 166, 151, 185, 136, 219, 234, 125, 76, 31, 46, + 67, 114, 33, 16, 135, 182, 229, 212, 250, 203, 152, 169, 62, 15, 92, 109, + 134, 183, 228, 213, 66, 115, 32, 17, 63, 14, 93, 108, 251, 202, 153, 168, + 197, 244, 167, 150, 1, 48, 99, 82, 124, 77, 30, 47, 184, 137, 218, 235, + 61, 12, 95, 110, 249, 200, 155, 170, 132, 181, 230, 215, 64, 113, 34, 19, + 126, 79, 28, 45, 186, 139, 216, 233, 199, 246, 165, 148, 3, 50, 97, 80, + 187, 138, 217, 232, 127, 78, 29, 44, 2, 51, 96, 81, 198, 247, 164, 149, + 248, 201, 154, 171, 60, 13, 94, 111, 65, 112, 35, 18, 133, 180, 231, 214, + 122, 75, 24, 41, 190, 143, 220, 237, 195, 242, 161, 144, 7, 54, 101, 84, + 57, 8, 91, 106, 253, 204, 159, 174, 128, 177, 226, 211, 68, 117, 38, 23, + 252, 205, 158, 175, 56, 9, 90, 107, 69, 116, 39, 22, 129, 176, 227, 210, + 191, 142, 221, 236, 123, 74, 25, 40, 6, 55, 100, 85, 194, 243, 160, 145, + 71, 118, 37, 20, 131, 178, 225, 208, 254, 207, 156, 173, 58, 11, 88, 105, + 4, 53, 102, 87, 192, 241, 162, 147, 189, 140, 223, 238, 121, 72, 27, 42, + 193, 240, 163, 146, 5, 52, 103, 86, 120, 73, 26, 43, 188, 141, 222, 239, + 130, 179, 224, 209, 70, 119, 36, 21, 59, 10, 89, 104, 255, 206, 157, 172 +}; + +/* + * uint8_t crc_8( const unsigned char *input_str, size_t num_bytes ); + * + * The function crc_8() calculates the 8 bit wide CRC of an input string of a + * given length. + */ + +uint8_t crc_8( const unsigned char *input_str, size_t num_bytes ) { + + size_t a; + uint8_t crc; + const unsigned char *ptr; + + crc = CRC_START_8; + ptr = input_str; + + if ( ptr != NULL ) for (a=0; a +#include +#include "checksum.h" + +static uint16_t crc_ccitt_generic( const unsigned char *input_str, size_t num_bytes, uint16_t start_value ); +static void init_crcccitt_tab( void ); + +static bool crc_tabccitt_init = false; +static uint16_t crc_tabccitt[256]; + +/* + * uint16_t crc_xmodem( const unsigned char *input_str, size_t num_bytes ); + * + * The function crc_xmodem() performs a one-pass calculation of an X-Modem CRC + * for a byte string that has been passed as a parameter. + */ + +uint16_t crc_xmodem( const unsigned char *input_str, size_t num_bytes ) { + + return crc_ccitt_generic( input_str, num_bytes, CRC_START_XMODEM ); + +} /* crc_xmodem */ + +/* + * uint16_t crc_ccitt_1d0f( const unsigned char *input_str, size_t num_bytes ); + * + * The function crc_ccitt_1d0f() performs a one-pass calculation of the CCITT + * CRC for a byte string that has been passed as a parameter. The initial value + * 0x1d0f is used for the CRC. + */ + +uint16_t crc_ccitt_1d0f( const unsigned char *input_str, size_t num_bytes ) { + + return crc_ccitt_generic( input_str, num_bytes, CRC_START_CCITT_1D0F ); + +} /* crc_ccitt_1d0f */ + +/* + * uint16_t crc_ccitt_ffff( const unsigned char *input_str, size_t num_bytes ); + * + * The function crc_ccitt_ffff() performs a one-pass calculation of the CCITT + * CRC for a byte string that has been passed as a parameter. The initial value + * 0xffff is used for the CRC. + */ + +uint16_t crc_ccitt_ffff( const unsigned char *input_str, size_t num_bytes ) { + + return crc_ccitt_generic( input_str, num_bytes, CRC_START_CCITT_FFFF ); + +} /* crc_ccitt_ffff */ + +/* + * static uint16_t crc_ccitt_generic( const unsigned char *input_str, size_t num_bytes, uint16_t start_value ); + * + * The function crc_ccitt_generic() is a generic implementation of the CCITT + * algorithm for a one-pass calculation of the CRC for a byte string. The + * function accepts an initial start value for the crc. + */ + +static uint16_t crc_ccitt_generic( const unsigned char *input_str, size_t num_bytes, uint16_t start_value ) { + + uint16_t crc; + const unsigned char *ptr; + size_t a; + + if ( ! crc_tabccitt_init ) init_crcccitt_tab(); + + crc = start_value; + ptr = input_str; + + if ( ptr != NULL ) for (a=0; a> 8) ^ (uint16_t) *ptr++) & 0x00FF ]; + } + + return crc; + +} /* crc_ccitt_generic */ + +/* + * uint16_t update_crc_ccitt( uint16_t crc, unsigned char c ); + * + * The function update_crc_ccitt() calculates a new CRC-CCITT value based on + * the previous value of the CRC and the next byte of the data to be checked. + */ + +uint16_t update_crc_ccitt( uint16_t crc, unsigned char c ) { + + if ( ! crc_tabccitt_init ) init_crcccitt_tab(); + + return (crc << 8) ^ crc_tabccitt[ ((crc >> 8) ^ (uint16_t) c) & 0x00FF ]; + +} /* update_crc_ccitt */ + +/* + * static void init_crcccitt_tab( void ); + * + * For optimal performance, the routine to calculate the CRC-CCITT uses a + * lookup table with pre-compiled values that can be directly applied in the + * XOR action. This table is created at the first call of the function by the + * init_crcccitt_tab() routine. + */ + +static void init_crcccitt_tab( void ) { + + uint16_t i; + uint16_t j; + uint16_t crc; + uint16_t c; + + for (i=0; i<256; i++) { + + crc = 0; + c = i << 8; + + for (j=0; j<8; j++) { + + if ( (crc ^ c) & 0x8000 ) crc = ( crc << 1 ) ^ CRC_POLY_CCITT; + else crc = crc << 1; + + c = c << 1; + } + + crc_tabccitt[i] = crc; + } + + crc_tabccitt_init = true; + +} /* init_crcccitt_tab */ diff --git a/VrUtils/crc/src/crcdnp.c b/VrUtils/crc/src/crcdnp.c new file mode 100644 index 0000000..0f6935a --- /dev/null +++ b/VrUtils/crc/src/crcdnp.c @@ -0,0 +1,128 @@ +/* + * Library: libcrc + * File: src/crcdnp.c + * Author: Lammert Bies + * + * This file is licensed under the MIT License as stated below + * + * Copyright (c) 2005-2016 Lammert Bies + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + * + * Description + * ----------- + * The source file src/crcdnp.c contains routines which are used to calculate + * the CRC value in DNP messages. + */ + + + +#include +#include +#include "checksum.h" + +static void init_crcdnp_tab( void ); + +static bool crc_tabdnp_init = false; +static uint16_t crc_tabdnp[256]; + +/* + * uint16_t crc_dnp( const unsigned char* input_str, size_t num_bytes ); + * + * The function crc_dnp() calculates the DNP CRC checksum of a provided byte + * string in one pass. + */ + +uint16_t crc_dnp( const unsigned char *input_str, size_t num_bytes ) { + + uint16_t crc; + uint16_t low_byte; + uint16_t high_byte; + const unsigned char *ptr; + size_t a; + + if ( ! crc_tabdnp_init ) init_crcdnp_tab(); + + crc = CRC_START_DNP; + ptr = input_str; + + if ( ptr != NULL ) for (a=0; a> 8) ^ crc_tabdnp[ (crc ^ (uint16_t) *ptr++) & 0x00FF ]; + } + + crc = ~crc; + low_byte = (crc & 0xff00) >> 8; + high_byte = (crc & 0x00ff) << 8; + crc = low_byte | high_byte; + + return crc; + +} /* crc_dnp */ + +/* + * uint16_t update_crc_dnp( uint16_t crc, unsigned char c ); + * + * The function update_crc_dnp() is called for every new byte in a row that + * must be feeded tot the CRC-DNP routine to calculate the DNP CRC. + */ + +uint16_t update_crc_dnp( uint16_t crc, unsigned char c ) { + + if ( ! crc_tabdnp_init ) init_crcdnp_tab(); + + return (crc >> 8) ^ crc_tabdnp[ (crc ^ (uint16_t) c) & 0x00FF ]; + +} /* update_crc_dnp */ + +/* + * static void init_crcdnp_tab( void ); + * + * For better performance, the DNP CRC calculation uses a precompiled list with + * bit patterns that are used in the XOR operation in the main routine. This + * table is calculated once at the start of the program by the + * init_crcdnp_tab() routine. + */ + +static void init_crcdnp_tab( void ) { + + int i; + int j; + uint16_t crc; + uint16_t c; + + for (i=0; i<256; i++) { + + crc = 0; + c = (uint16_t) i; + + for (j=0; j<8; j++) { + + if ( (crc ^ c) & 0x0001 ) crc = ( crc >> 1 ) ^ CRC_POLY_DNP; + else crc = crc >> 1; + + c = c >> 1; + } + + crc_tabdnp[i] = crc; + } + + crc_tabdnp_init = true; + +} /* init_crcdnp_tab */ diff --git a/VrUtils/crc/src/crckrmit.c b/VrUtils/crc/src/crckrmit.c new file mode 100644 index 0000000..5d2a55e --- /dev/null +++ b/VrUtils/crc/src/crckrmit.c @@ -0,0 +1,126 @@ +/* + * Library: libcrc + * File: src/crckrmit.c + * Author: Lammert Bies + * + * This file is licensed under the MIT License as stated below + * + * Copyright (c) 1999-2016 Lammert Bies + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + * + * Description + * ----------- + * The source file src/crckrmit.c contains routines which calculate the CRC + * Kermit cyclic redundancy check value for an incomming byte string. + */ + +#include +#include +#include "checksum.h" + +static void init_crc_tab( void ); + +static bool crc_tab_init = false; +static uint16_t crc_tab[256]; + +/* + * uint16_t crc_kermit( const unsigned char *input_str, size_t num_bytes ); + * + * The function crc_kermit() calculates the 16 bits Kermit CRC in one pass for + * a byte string of which the beginning has been passed to the function. The + * number of bytes to check is also a parameter. + */ + +uint16_t crc_kermit( const unsigned char *input_str, size_t num_bytes ) { + + uint16_t crc; + uint16_t low_byte; + uint16_t high_byte; + const unsigned char *ptr; + size_t a; + + if ( ! crc_tab_init ) init_crc_tab(); + + crc = CRC_START_KERMIT; + ptr = input_str; + + if ( ptr != NULL ) for (a=0; a> 8) ^ crc_tab[ (crc ^ (uint16_t) *ptr++) & 0x00FF ]; + } + + low_byte = (crc & 0xff00) >> 8; + high_byte = (crc & 0x00ff) << 8; + crc = low_byte | high_byte; + + return crc; + +} /* crc_kermit */ + +/* + * uint16_t update_crc_kermit( uint16_t crc, unsigned char c ); + * + * The function update_crc_kermit() calculates a new CRC Kermit value based on + * the previous value of the CRC and the next byte of data to be checked. + */ + +uint16_t update_crc_kermit( uint16_t crc, unsigned char c ) { + + if ( ! crc_tab_init ) init_crc_tab(); + + return (crc >> 8) ^ crc_tab[ (crc ^ (uint16_t) c) & 0x00FF ]; + +} /* update_crc_kermit */ + +/* + * static void init_crc_tab( void ); + * + * For optimal performance, the CRC Kermit routine uses a lookup table with + * values that can be used directly in the XOR arithmetic in the algorithm. + * This lookup table is calculated by the init_crc_tab() routine, the first + * time the CRC function is called. + */ + +static void init_crc_tab( void ) { + + uint16_t i; + uint16_t j; + uint16_t crc; + uint16_t c; + + for (i=0; i<256; i++) { + + crc = 0; + c = i; + + for (j=0; j<8; j++) { + + if ( (crc ^ c) & 0x0001 ) crc = ( crc >> 1 ) ^ CRC_POLY_KERMIT; + else crc = crc >> 1; + + c = c >> 1; + } + + crc_tab[i] = crc; + } + + crc_tab_init = true; + +} /* init_crc_tab */ diff --git a/VrUtils/crc/src/crcsick.c b/VrUtils/crc/src/crcsick.c new file mode 100644 index 0000000..f26139a --- /dev/null +++ b/VrUtils/crc/src/crcsick.c @@ -0,0 +1,102 @@ +/* + * Library: libcrc + * File: src/crcsick.c + * Author: Lammert Bies + * + * This file is licensed under the MIT License as stated below + * + * Copyright (c) 2007-2016 Lammert Bies + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + * + * Description + * ----------- + * The source file src/crcsick.c contains routines that help in calculating the + * CRC value that is used as dataprotection measure in communications with Sick + * electronic devices. + */ + +#include +#include "checksum.h" + +/* + * uint16_t crc_sick( const unsigned char *input_str, size_t num_bytes ); + * + * The function crc_sick() calculates the SICK CRC value of an input string in + * one pass. + */ + +uint16_t crc_sick( const unsigned char *input_str, size_t num_bytes ) { + + uint16_t crc; + uint16_t low_byte; + uint16_t high_byte; + uint16_t short_c; + uint16_t short_p; + const unsigned char *ptr; + size_t a; + + crc = CRC_START_SICK; + ptr = input_str; + short_p = 0; + + if ( ptr != NULL ) for (a=0; a> 8; + high_byte = (crc & 0x00FF) << 8; + crc = low_byte | high_byte; + + return crc; + +} /* crc_sick */ + +/* + * uint16_t update_crc_sick( uint16_t crc, unsigned char c, unsigned char prev_byte ); + * + * The function update_crc_sick() calculates a new CRC-SICK value based on the + * previous value of the CRC and the next byte of the data to be checked. + */ + +uint16_t update_crc_sick( uint16_t crc, unsigned char c, unsigned char prev_byte ) { + + uint16_t short_c; + uint16_t short_p; + + short_c = 0x00FF & (uint16_t) c; + short_p = ( 0x00FF & (uint16_t) prev_byte ) << 8; + + if ( crc & 0x8000 ) crc = ( crc << 1 ) ^ CRC_POLY_SICK; + else crc = crc << 1; + + crc ^= ( short_c | short_p ); + + return crc; + +} /* update_crc_sick */ diff --git a/VrUtils/crc/src/nmea-chk.c b/VrUtils/crc/src/nmea-chk.c new file mode 100644 index 0000000..de0b899 --- /dev/null +++ b/VrUtils/crc/src/nmea-chk.c @@ -0,0 +1,76 @@ +/* + * Library: libcrc + * File: src/nmea-chk.c + * Author: Lammert Bies + * + * This file is licensed under the MIT License as stated below + * + * Copyright (c) 2008-2016 Lammert Bies + * + * Permission is hereby granted, free of charge, to any person obtaining a copy + * of this software and associated documentation files (the "Software"), to deal + * in the Software without restriction, including without limitation the rights + * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + * copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all + * copies or substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + * SOFTWARE. + * + * Description + * ----------- + * The source file src/nmea-chk.c contains routines to calculate the checksum + * in NMEA messages. + */ + +#include +#include +#include "checksum.h" + +/* + * unsigned char *checksum_NMEA( const unsigned char *input_str, unsigned char *result ); + * + * The function checksum_NMEA() calculates the checksum of a valid NMEA string. + * The routine does not try to validate the string itself. A leading '$' will + * be ignored, as this character is part of the NMEA sentence, but not part of + * the checksum calculation. The calculation stops, whenever a linefeed, + * carriage return, '*' or end of string is scanned. + * + * Because there is no NMEA syntax checking involved, the function always + * returns with succes, unless a NULL pointer is provided as parameter. The + * return value is a pointer to the result buffer provided by the calling + * application, or NULL in case of error. + * + * The result buffer must be at least three characters long. Two for the + * checksum value and the third to store the EOS. The result buffer is not + * filled when an error occurs. + */ + +unsigned char * checksum_NMEA( const unsigned char *input_str, unsigned char *result ) { + + const unsigned char *ptr; + unsigned char checksum; + + if ( input_str == NULL ) return NULL; + if ( result == NULL ) return NULL; + + checksum = 0; + ptr = (const unsigned char *) input_str; + + if ( *ptr == '$' ) ptr++; + + while ( *ptr && *ptr != '\r' && *ptr != '\n' && *ptr != '*' ) checksum ^= *ptr++; + + snprintf( (char *) result, 3, "%02hhX", checksum ); + + return result; + +} /* checksum_NMEA */ diff --git a/VrUtils/ini/ConvertUTF.c b/VrUtils/ini/ConvertUTF.c new file mode 100644 index 0000000..9b3deeb --- /dev/null +++ b/VrUtils/ini/ConvertUTF.c @@ -0,0 +1,539 @@ +/* + * Copyright 2001-2004 Unicode, Inc. + * + * Disclaimer + * + * This source code is provided as is by Unicode, Inc. No claims are + * made as to fitness for any particular purpose. No warranties of any + * kind are expressed or implied. The recipient agrees to determine + * applicability of information provided. If this file has been + * purchased on magnetic or optical media from Unicode, Inc., the + * sole remedy for any claim will be exchange of defective media + * within 90 days of receipt. + * + * Limitations on Rights to Redistribute This Code + * + * Unicode, Inc. hereby grants the right to freely use the information + * supplied in this file in the creation of products supporting the + * Unicode Standard, and to make copies of this file in any form + * for internal or external distribution as long as this notice + * remains attached. + */ + +/* --------------------------------------------------------------------- + + Conversions between UTF32, UTF-16, and UTF-8. Source code file. + Author: Mark E. Davis, 1994. + Rev History: Rick McGowan, fixes & updates May 2001. + Sept 2001: fixed const & error conditions per + mods suggested by S. Parent & A. Lillich. + June 2002: Tim Dodd added detection and handling of incomplete + source sequences, enhanced error detection, added casts + to eliminate compiler warnings. + July 2003: slight mods to back out aggressive FFFE detection. + Jan 2004: updated switches in from-UTF8 conversions. + Oct 2004: updated to use UNI_MAX_LEGAL_UTF32 in UTF-32 conversions. + + See the header file "ConvertUTF.h" for complete documentation. + +------------------------------------------------------------------------ */ + + +#include "ConvertUTF.h" +#ifdef CVTUTF_DEBUG +#include +#endif + +static const int halfShift = 10; /* used for shifting by 10 bits */ + +static const UTF32 halfBase = 0x0010000UL; +static const UTF32 halfMask = 0x3FFUL; + +#define UNI_SUR_HIGH_START (UTF32)0xD800 +#define UNI_SUR_HIGH_END (UTF32)0xDBFF +#define UNI_SUR_LOW_START (UTF32)0xDC00 +#define UNI_SUR_LOW_END (UTF32)0xDFFF +#define false 0 +#define true 1 + +/* --------------------------------------------------------------------- */ + +ConversionResult ConvertUTF32toUTF16 ( + const UTF32** sourceStart, const UTF32* sourceEnd, + UTF16** targetStart, UTF16* targetEnd, ConversionFlags flags) { + ConversionResult result = conversionOK; + const UTF32* source = *sourceStart; + UTF16* target = *targetStart; + while (source < sourceEnd) { + UTF32 ch; + if (target >= targetEnd) { + result = targetExhausted; break; + } + ch = *source++; + if (ch <= UNI_MAX_BMP) { /* Target is a character <= 0xFFFF */ + /* UTF-16 surrogate values are illegal in UTF-32; 0xffff or 0xfffe are both reserved values */ + if (ch >= UNI_SUR_HIGH_START && ch <= UNI_SUR_LOW_END) { + if (flags == strictConversion) { + --source; /* return to the illegal value itself */ + result = sourceIllegal; + break; + } else { + *target++ = UNI_REPLACEMENT_CHAR; + } + } else { + *target++ = (UTF16)ch; /* normal case */ + } + } else if (ch > UNI_MAX_LEGAL_UTF32) { + if (flags == strictConversion) { + result = sourceIllegal; + } else { + *target++ = UNI_REPLACEMENT_CHAR; + } + } else { + /* target is a character in range 0xFFFF - 0x10FFFF. */ + if (target + 1 >= targetEnd) { + --source; /* Back up source pointer! */ + result = targetExhausted; break; + } + ch -= halfBase; + *target++ = (UTF16)((ch >> halfShift) + UNI_SUR_HIGH_START); + *target++ = (UTF16)((ch & halfMask) + UNI_SUR_LOW_START); + } + } + *sourceStart = source; + *targetStart = target; + return result; +} + +/* --------------------------------------------------------------------- */ + +ConversionResult ConvertUTF16toUTF32 ( + const UTF16** sourceStart, const UTF16* sourceEnd, + UTF32** targetStart, UTF32* targetEnd, ConversionFlags flags) { + ConversionResult result = conversionOK; + const UTF16* source = *sourceStart; + UTF32* target = *targetStart; + UTF32 ch, ch2; + while (source < sourceEnd) { + const UTF16* oldSource = source; /* In case we have to back up because of target overflow. */ + ch = *source++; + /* If we have a surrogate pair, convert to UTF32 first. */ + if (ch >= UNI_SUR_HIGH_START && ch <= UNI_SUR_HIGH_END) { + /* If the 16 bits following the high surrogate are in the source buffer... */ + if (source < sourceEnd) { + ch2 = *source; + /* If it's a low surrogate, convert to UTF32. */ + if (ch2 >= UNI_SUR_LOW_START && ch2 <= UNI_SUR_LOW_END) { + ch = ((ch - UNI_SUR_HIGH_START) << halfShift) + + (ch2 - UNI_SUR_LOW_START) + halfBase; + ++source; + } else if (flags == strictConversion) { /* it's an unpaired high surrogate */ + --source; /* return to the illegal value itself */ + result = sourceIllegal; + break; + } + } else { /* We don't have the 16 bits following the high surrogate. */ + --source; /* return to the high surrogate */ + result = sourceExhausted; + break; + } + } else if (flags == strictConversion) { + /* UTF-16 surrogate values are illegal in UTF-32 */ + if (ch >= UNI_SUR_LOW_START && ch <= UNI_SUR_LOW_END) { + --source; /* return to the illegal value itself */ + result = sourceIllegal; + break; + } + } + if (target >= targetEnd) { + source = oldSource; /* Back up source pointer! */ + result = targetExhausted; break; + } + *target++ = ch; + } + *sourceStart = source; + *targetStart = target; +#ifdef CVTUTF_DEBUG +if (result == sourceIllegal) { + fprintf(stderr, "ConvertUTF16toUTF32 illegal seq 0x%04x,%04x\n", ch, ch2); + fflush(stderr); +} +#endif + return result; +} + +/* --------------------------------------------------------------------- */ + +/* + * Index into the table below with the first byte of a UTF-8 sequence to + * get the number of trailing bytes that are supposed to follow it. + * Note that *legal* UTF-8 values can't have 4 or 5-bytes. The table is + * left as-is for anyone who may want to do such conversion, which was + * allowed in earlier algorithms. + */ +static const char trailingBytesForUTF8[256] = { + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, + 1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1, 1,1,1,1,1,1,1,1,1,1,1,1,1,1,1,1, + 2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2, 3,3,3,3,3,3,3,3,4,4,4,4,5,5,5,5 +}; + +/* + * Magic values subtracted from a buffer value during UTF8 conversion. + * This table contains as many values as there might be trailing bytes + * in a UTF-8 sequence. + */ +static const UTF32 offsetsFromUTF8[6] = { 0x00000000UL, 0x00003080UL, 0x000E2080UL, + 0x03C82080UL, 0xFA082080UL, 0x82082080UL }; + +/* + * Once the bits are split out into bytes of UTF-8, this is a mask OR-ed + * into the first byte, depending on how many bytes follow. There are + * as many entries in this table as there are UTF-8 sequence types. + * (I.e., one byte sequence, two byte... etc.). Remember that sequencs + * for *legal* UTF-8 will be 4 or fewer bytes total. + */ +static const UTF8 firstByteMark[7] = { 0x00, 0x00, 0xC0, 0xE0, 0xF0, 0xF8, 0xFC }; + +/* --------------------------------------------------------------------- */ + +/* The interface converts a whole buffer to avoid function-call overhead. + * Constants have been gathered. Loops & conditionals have been removed as + * much as possible for efficiency, in favor of drop-through switches. + * (See "Note A" at the bottom of the file for equivalent code.) + * If your compiler supports it, the "isLegalUTF8" call can be turned + * into an inline function. + */ + +/* --------------------------------------------------------------------- */ + +ConversionResult ConvertUTF16toUTF8 ( + const UTF16** sourceStart, const UTF16* sourceEnd, + UTF8** targetStart, UTF8* targetEnd, ConversionFlags flags) { + ConversionResult result = conversionOK; + const UTF16* source = *sourceStart; + UTF8* target = *targetStart; + while (source < sourceEnd) { + UTF32 ch; + unsigned short bytesToWrite = 0; + const UTF32 byteMask = 0xBF; + const UTF32 byteMark = 0x80; + const UTF16* oldSource = source; /* In case we have to back up because of target overflow. */ + ch = *source++; + /* If we have a surrogate pair, convert to UTF32 first. */ + if (ch >= UNI_SUR_HIGH_START && ch <= UNI_SUR_HIGH_END) { + /* If the 16 bits following the high surrogate are in the source buffer... */ + if (source < sourceEnd) { + UTF32 ch2 = *source; + /* If it's a low surrogate, convert to UTF32. */ + if (ch2 >= UNI_SUR_LOW_START && ch2 <= UNI_SUR_LOW_END) { + ch = ((ch - UNI_SUR_HIGH_START) << halfShift) + + (ch2 - UNI_SUR_LOW_START) + halfBase; + ++source; + } else if (flags == strictConversion) { /* it's an unpaired high surrogate */ + --source; /* return to the illegal value itself */ + result = sourceIllegal; + break; + } + } else { /* We don't have the 16 bits following the high surrogate. */ + --source; /* return to the high surrogate */ + result = sourceExhausted; + break; + } + } else if (flags == strictConversion) { + /* UTF-16 surrogate values are illegal in UTF-32 */ + if (ch >= UNI_SUR_LOW_START && ch <= UNI_SUR_LOW_END) { + --source; /* return to the illegal value itself */ + result = sourceIllegal; + break; + } + } + /* Figure out how many bytes the result will require */ + if (ch < (UTF32)0x80) { bytesToWrite = 1; + } else if (ch < (UTF32)0x800) { bytesToWrite = 2; + } else if (ch < (UTF32)0x10000) { bytesToWrite = 3; + } else if (ch < (UTF32)0x110000) { bytesToWrite = 4; + } else { bytesToWrite = 3; + ch = UNI_REPLACEMENT_CHAR; + } + + target += bytesToWrite; + if (target > targetEnd) { + source = oldSource; /* Back up source pointer! */ + target -= bytesToWrite; result = targetExhausted; break; + } + switch (bytesToWrite) { /* note: everything falls through. */ + case 4: *--target = (UTF8)((ch | byteMark) & byteMask); ch >>= 6; + case 3: *--target = (UTF8)((ch | byteMark) & byteMask); ch >>= 6; + case 2: *--target = (UTF8)((ch | byteMark) & byteMask); ch >>= 6; + case 1: *--target = (UTF8)(ch | firstByteMark[bytesToWrite]); + } + target += bytesToWrite; + } + *sourceStart = source; + *targetStart = target; + return result; +} + +/* --------------------------------------------------------------------- */ + +/* + * Utility routine to tell whether a sequence of bytes is legal UTF-8. + * This must be called with the length pre-determined by the first byte. + * If not calling this from ConvertUTF8to*, then the length can be set by: + * length = trailingBytesForUTF8[*source]+1; + * and the sequence is illegal right away if there aren't that many bytes + * available. + * If presented with a length > 4, this returns false. The Unicode + * definition of UTF-8 goes up to 4-byte sequences. + */ + +static Boolean isLegalUTF8(const UTF8 *source, int length) { + UTF8 a; + const UTF8 *srcptr = source+length; + switch (length) { + default: return false; + /* Everything else falls through when "true"... */ + case 4: if ((a = (*--srcptr)) < 0x80 || a > 0xBF) return false; + case 3: if ((a = (*--srcptr)) < 0x80 || a > 0xBF) return false; + case 2: if ((a = (*--srcptr)) > 0xBF) return false; + + switch (*source) { + /* no fall-through in this inner switch */ + case 0xE0: if (a < 0xA0) return false; break; + case 0xED: if (a > 0x9F) return false; break; + case 0xF0: if (a < 0x90) return false; break; + case 0xF4: if (a > 0x8F) return false; break; + default: if (a < 0x80) return false; + } + + case 1: if (*source >= 0x80 && *source < 0xC2) return false; + } + if (*source > 0xF4) return false; + return true; +} + +/* --------------------------------------------------------------------- */ + +/* + * Exported function to return whether a UTF-8 sequence is legal or not. + * This is not used here; it's just exported. + */ +Boolean isLegalUTF8Sequence(const UTF8 *source, const UTF8 *sourceEnd) { + int length = trailingBytesForUTF8[*source]+1; + if (source+length > sourceEnd) { + return false; + } + return isLegalUTF8(source, length); +} + +/* --------------------------------------------------------------------- */ + +ConversionResult ConvertUTF8toUTF16 ( + const UTF8** sourceStart, const UTF8* sourceEnd, + UTF16** targetStart, UTF16* targetEnd, ConversionFlags flags) { + ConversionResult result = conversionOK; + const UTF8* source = *sourceStart; + UTF16* target = *targetStart; + while (source < sourceEnd) { + UTF32 ch = 0; + unsigned short extraBytesToRead = trailingBytesForUTF8[*source]; + if (source + extraBytesToRead >= sourceEnd) { + result = sourceExhausted; break; + } + /* Do this check whether lenient or strict */ + if (! isLegalUTF8(source, extraBytesToRead+1)) { + result = sourceIllegal; + break; + } + /* + * The cases all fall through. See "Note A" below. + */ + switch (extraBytesToRead) { + case 5: ch += *source++; ch <<= 6; /* remember, illegal UTF-8 */ + case 4: ch += *source++; ch <<= 6; /* remember, illegal UTF-8 */ + case 3: ch += *source++; ch <<= 6; + case 2: ch += *source++; ch <<= 6; + case 1: ch += *source++; ch <<= 6; + case 0: ch += *source++; + } + ch -= offsetsFromUTF8[extraBytesToRead]; + + if (target >= targetEnd) { + source -= (extraBytesToRead+1); /* Back up source pointer! */ + result = targetExhausted; break; + } + if (ch <= UNI_MAX_BMP) { /* Target is a character <= 0xFFFF */ + /* UTF-16 surrogate values are illegal in UTF-32 */ + if (ch >= UNI_SUR_HIGH_START && ch <= UNI_SUR_LOW_END) { + if (flags == strictConversion) { + source -= (extraBytesToRead+1); /* return to the illegal value itself */ + result = sourceIllegal; + break; + } else { + *target++ = UNI_REPLACEMENT_CHAR; + } + } else { + *target++ = (UTF16)ch; /* normal case */ + } + } else if (ch > UNI_MAX_UTF16) { + if (flags == strictConversion) { + result = sourceIllegal; + source -= (extraBytesToRead+1); /* return to the start */ + break; /* Bail out; shouldn't continue */ + } else { + *target++ = UNI_REPLACEMENT_CHAR; + } + } else { + /* target is a character in range 0xFFFF - 0x10FFFF. */ + if (target + 1 >= targetEnd) { + source -= (extraBytesToRead+1); /* Back up source pointer! */ + result = targetExhausted; break; + } + ch -= halfBase; + *target++ = (UTF16)((ch >> halfShift) + UNI_SUR_HIGH_START); + *target++ = (UTF16)((ch & halfMask) + UNI_SUR_LOW_START); + } + } + *sourceStart = source; + *targetStart = target; + return result; +} + +/* --------------------------------------------------------------------- */ + +ConversionResult ConvertUTF32toUTF8 ( + const UTF32** sourceStart, const UTF32* sourceEnd, + UTF8** targetStart, UTF8* targetEnd, ConversionFlags flags) { + ConversionResult result = conversionOK; + const UTF32* source = *sourceStart; + UTF8* target = *targetStart; + while (source < sourceEnd) { + UTF32 ch; + unsigned short bytesToWrite = 0; + const UTF32 byteMask = 0xBF; + const UTF32 byteMark = 0x80; + ch = *source++; + if (flags == strictConversion ) { + /* UTF-16 surrogate values are illegal in UTF-32 */ + if (ch >= UNI_SUR_HIGH_START && ch <= UNI_SUR_LOW_END) { + --source; /* return to the illegal value itself */ + result = sourceIllegal; + break; + } + } + /* + * Figure out how many bytes the result will require. Turn any + * illegally large UTF32 things (> Plane 17) into replacement chars. + */ + if (ch < (UTF32)0x80) { bytesToWrite = 1; + } else if (ch < (UTF32)0x800) { bytesToWrite = 2; + } else if (ch < (UTF32)0x10000) { bytesToWrite = 3; + } else if (ch <= UNI_MAX_LEGAL_UTF32) { bytesToWrite = 4; + } else { bytesToWrite = 3; + ch = UNI_REPLACEMENT_CHAR; + result = sourceIllegal; + } + + target += bytesToWrite; + if (target > targetEnd) { + --source; /* Back up source pointer! */ + target -= bytesToWrite; result = targetExhausted; break; + } + switch (bytesToWrite) { /* note: everything falls through. */ + case 4: *--target = (UTF8)((ch | byteMark) & byteMask); ch >>= 6; + case 3: *--target = (UTF8)((ch | byteMark) & byteMask); ch >>= 6; + case 2: *--target = (UTF8)((ch | byteMark) & byteMask); ch >>= 6; + case 1: *--target = (UTF8) (ch | firstByteMark[bytesToWrite]); + } + target += bytesToWrite; + } + *sourceStart = source; + *targetStart = target; + return result; +} + +/* --------------------------------------------------------------------- */ + +ConversionResult ConvertUTF8toUTF32 ( + const UTF8** sourceStart, const UTF8* sourceEnd, + UTF32** targetStart, UTF32* targetEnd, ConversionFlags flags) { + ConversionResult result = conversionOK; + const UTF8* source = *sourceStart; + UTF32* target = *targetStart; + while (source < sourceEnd) { + UTF32 ch = 0; + unsigned short extraBytesToRead = trailingBytesForUTF8[*source]; + if (source + extraBytesToRead >= sourceEnd) { + result = sourceExhausted; break; + } + /* Do this check whether lenient or strict */ + if (! isLegalUTF8(source, extraBytesToRead+1)) { + result = sourceIllegal; + break; + } + /* + * The cases all fall through. See "Note A" below. + */ + switch (extraBytesToRead) { + case 5: ch += *source++; ch <<= 6; + case 4: ch += *source++; ch <<= 6; + case 3: ch += *source++; ch <<= 6; + case 2: ch += *source++; ch <<= 6; + case 1: ch += *source++; ch <<= 6; + case 0: ch += *source++; + } + ch -= offsetsFromUTF8[extraBytesToRead]; + + if (target >= targetEnd) { + source -= (extraBytesToRead+1); /* Back up the source pointer! */ + result = targetExhausted; break; + } + if (ch <= UNI_MAX_LEGAL_UTF32) { + /* + * UTF-16 surrogate values are illegal in UTF-32, and anything + * over Plane 17 (> 0x10FFFF) is illegal. + */ + if (ch >= UNI_SUR_HIGH_START && ch <= UNI_SUR_LOW_END) { + if (flags == strictConversion) { + source -= (extraBytesToRead+1); /* return to the illegal value itself */ + result = sourceIllegal; + break; + } else { + *target++ = UNI_REPLACEMENT_CHAR; + } + } else { + *target++ = ch; + } + } else { /* i.e., ch > UNI_MAX_LEGAL_UTF32 */ + result = sourceIllegal; + *target++ = UNI_REPLACEMENT_CHAR; + } + } + *sourceStart = source; + *targetStart = target; + return result; +} + +/* --------------------------------------------------------------------- + + Note A. + The fall-through switches in UTF-8 reading code save a + temp variable, some decrements & conditionals. The switches + are equivalent to the following loop: + { + int tmpBytesToRead = extraBytesToRead+1; + do { + ch += *source++; + --tmpBytesToRead; + if (tmpBytesToRead) ch <<= 6; + } while (tmpBytesToRead > 0); + } + In UTF-8 writing code, the switches on "bytesToWrite" are + similarly unrolled loops. + + --------------------------------------------------------------------- */ diff --git a/VrUtils/ini/ConvertUTF.h b/VrUtils/ini/ConvertUTF.h new file mode 100644 index 0000000..14d7b70 --- /dev/null +++ b/VrUtils/ini/ConvertUTF.h @@ -0,0 +1,149 @@ +/* + * Copyright 2001-2004 Unicode, Inc. + * + * Disclaimer + * + * This source code is provided as is by Unicode, Inc. No claims are + * made as to fitness for any particular purpose. No warranties of any + * kind are expressed or implied. The recipient agrees to determine + * applicability of information provided. If this file has been + * purchased on magnetic or optical media from Unicode, Inc., the + * sole remedy for any claim will be exchange of defective media + * within 90 days of receipt. + * + * Limitations on Rights to Redistribute This Code + * + * Unicode, Inc. hereby grants the right to freely use the information + * supplied in this file in the creation of products supporting the + * Unicode Standard, and to make copies of this file in any form + * for internal or external distribution as long as this notice + * remains attached. + */ + +/* --------------------------------------------------------------------- + + Conversions between UTF32, UTF-16, and UTF-8. Header file. + + Several funtions are included here, forming a complete set of + conversions between the three formats. UTF-7 is not included + here, but is handled in a separate source file. + + Each of these routines takes pointers to input buffers and output + buffers. The input buffers are const. + + Each routine converts the text between *sourceStart and sourceEnd, + putting the result into the buffer between *targetStart and + targetEnd. Note: the end pointers are *after* the last item: e.g. + *(sourceEnd - 1) is the last item. + + The return result indicates whether the conversion was successful, + and if not, whether the problem was in the source or target buffers. + (Only the first encountered problem is indicated.) + + After the conversion, *sourceStart and *targetStart are both + updated to point to the end of last text successfully converted in + the respective buffers. + + Input parameters: + sourceStart - pointer to a pointer to the source buffer. + The contents of this are modified on return so that + it points at the next thing to be converted. + targetStart - similarly, pointer to pointer to the target buffer. + sourceEnd, targetEnd - respectively pointers to the ends of the + two buffers, for overflow checking only. + + These conversion functions take a ConversionFlags argument. When this + flag is set to strict, both irregular sequences and isolated surrogates + will cause an error. When the flag is set to lenient, both irregular + sequences and isolated surrogates are converted. + + Whether the flag is strict or lenient, all illegal sequences will cause + an error return. This includes sequences such as: , , + or in UTF-8, and values above 0x10FFFF in UTF-32. Conformant code + must check for illegal sequences. + + When the flag is set to lenient, characters over 0x10FFFF are converted + to the replacement character; otherwise (when the flag is set to strict) + they constitute an error. + + Output parameters: + The value "sourceIllegal" is returned from some routines if the input + sequence is malformed. When "sourceIllegal" is returned, the source + value will point to the illegal value that caused the problem. E.g., + in UTF-8 when a sequence is malformed, it points to the start of the + malformed sequence. + + Author: Mark E. Davis, 1994. + Rev History: Rick McGowan, fixes & updates May 2001. + Fixes & updates, Sept 2001. + +------------------------------------------------------------------------ */ + +/* --------------------------------------------------------------------- + The following 4 definitions are compiler-specific. + The C standard does not guarantee that wchar_t has at least + 16 bits, so wchar_t is no less portable than unsigned short! + All should be unsigned values to avoid sign extension during + bit mask & shift operations. +------------------------------------------------------------------------ */ + +typedef unsigned int UTF32; /* at least 32 bits */ +typedef unsigned short UTF16; /* at least 16 bits */ +typedef unsigned char UTF8; /* typically 8 bits */ +typedef unsigned char Boolean; /* 0 or 1 */ + +/* Some fundamental constants */ +#define UNI_REPLACEMENT_CHAR (UTF32)0x0000FFFD +#define UNI_MAX_BMP (UTF32)0x0000FFFF +#define UNI_MAX_UTF16 (UTF32)0x0010FFFF +#define UNI_MAX_UTF32 (UTF32)0x7FFFFFFF +#define UNI_MAX_LEGAL_UTF32 (UTF32)0x0010FFFF + +typedef enum { + conversionOK, /* conversion successful */ + sourceExhausted, /* partial character in source, but hit end */ + targetExhausted, /* insuff. room in target for conversion */ + sourceIllegal /* source sequence is illegal/malformed */ +} ConversionResult; + +typedef enum { + strictConversion = 0, + lenientConversion +} ConversionFlags; + +/* This is for C++ and does no harm in C */ +#ifdef __cplusplus +extern "C" { +#endif + +ConversionResult ConvertUTF8toUTF16 ( + const UTF8** sourceStart, const UTF8* sourceEnd, + UTF16** targetStart, UTF16* targetEnd, ConversionFlags flags); + +ConversionResult ConvertUTF16toUTF8 ( + const UTF16** sourceStart, const UTF16* sourceEnd, + UTF8** targetStart, UTF8* targetEnd, ConversionFlags flags); + +ConversionResult ConvertUTF8toUTF32 ( + const UTF8** sourceStart, const UTF8* sourceEnd, + UTF32** targetStart, UTF32* targetEnd, ConversionFlags flags); + +ConversionResult ConvertUTF32toUTF8 ( + const UTF32** sourceStart, const UTF32* sourceEnd, + UTF8** targetStart, UTF8* targetEnd, ConversionFlags flags); + +ConversionResult ConvertUTF16toUTF32 ( + const UTF16** sourceStart, const UTF16* sourceEnd, + UTF32** targetStart, UTF32* targetEnd, ConversionFlags flags); + +ConversionResult ConvertUTF32toUTF16 ( + const UTF32** sourceStart, const UTF32* sourceEnd, + UTF16** targetStart, UTF16* targetEnd, ConversionFlags flags); + +Boolean isLegalUTF8Sequence(const UTF8 *source, const UTF8 *sourceEnd); + +#ifdef __cplusplus +} +#endif + +/* --------------------------------------------------------------------- */ diff --git a/VrUtils/ini/SimpleIni.h b/VrUtils/ini/SimpleIni.h new file mode 100644 index 0000000..1a9d768 --- /dev/null +++ b/VrUtils/ini/SimpleIni.h @@ -0,0 +1,3625 @@ +/** @mainpage + + +
Library SimpleIni +
File SimpleIni.h +
Author Brodie Thiesfield +
Source https://github.com/brofield/simpleini +
Version 4.20 +
+ + Jump to the @link CSimpleIniTempl CSimpleIni @endlink interface documentation. + + @section intro INTRODUCTION + + This component allows an INI-style configuration file to be used on both + Windows and Linux/Unix. It is fast, simple and source code using this + component will compile unchanged on either OS. + + + @section features FEATURES + + - MIT Licence allows free use in all software (including GPL and commercial) + - multi-platform (Windows CE/9x/NT..10/etc, Linux, MacOSX, Unix) + - loading and saving of INI-style configuration files + - configuration files can have any newline format on all platforms + - liberal acceptance of file format + - key/values with no section + - removal of whitespace around sections, keys and values + - support for multi-line values (values with embedded newline characters) + - optional support for multiple keys with the same name + - optional case-insensitive sections and keys (for ASCII characters only) + - saves files with sections and keys in the same order as they were loaded + - preserves comments on the file, section and keys where possible. + - supports both char or wchar_t programming interfaces + - supports both MBCS (system locale) and UTF-8 file encodings + - system locale does not need to be UTF-8 on Linux/Unix to load UTF-8 file + - support for non-ASCII characters in section, keys, values and comments + - support for non-standard character types or file encodings + via user-written converter classes + - support for adding/modifying values programmatically + - compiles cleanly in the following compilers: + - Windows/VC6 (warning level 3) + - Windows/VC.NET 2003 (warning level 4) + - Windows/VC 2005 (warning level 4) + - Windows/VC 2019 (warning level 4) + - Linux/gcc (-Wall) + + + @section usage USAGE SUMMARY + + -# Decide if you will be using utf8 or MBCS files, and working with the + data in utf8, wchar_t or ICU chars. + -# If you will only be using straight utf8 files and access the data via the + char interface, then you do not need any conversion library and could define + SI_NO_CONVERSION. Note that no conversion also means no validation of the data. + If no converter is specified then the default converter is SI_CONVERT_GENERIC + on Mac/Linux and SI_CONVERT_WIN32 on Windows. If you need widechar support on + Mac/Linux then use either SI_CONVERT_GENERIC or SI_CONVERT_ICU. These are also + supported on all platforms. + -# Define the appropriate symbol for the converter you wish to use and + include the SimpleIni.h header file. + -# Declare an instance of the appropriate class. Note that the following + definitions are just shortcuts for commonly used types. Other types + (PRUnichar, unsigned short, unsigned char) are also possible. + +
Interface Case-sensitive Load UTF-8 Load MBCS Typedef +
SI_NO_CONVERSION +
char No Yes No CSimpleIniA +
char Yes Yes No CSimpleIniCaseA +
SI_CONVERT_GENERIC +
char No Yes Yes #1 CSimpleIniA +
char Yes Yes Yes CSimpleIniCaseA +
wchar_t No Yes Yes CSimpleIniW +
wchar_t Yes Yes Yes CSimpleIniCaseW +
SI_CONVERT_WIN32 +
char No No #2 Yes CSimpleIniA +
char Yes Yes Yes CSimpleIniCaseA +
wchar_t No Yes Yes CSimpleIniW +
wchar_t Yes Yes Yes CSimpleIniCaseW +
SI_CONVERT_ICU +
char No Yes Yes CSimpleIniA +
char Yes Yes Yes CSimpleIniCaseA +
UChar No Yes Yes CSimpleIniW +
UChar Yes Yes Yes CSimpleIniCaseW +
+ #1 On Windows you are better to use CSimpleIniA with SI_CONVERT_WIN32.
+ #2 Only affects Windows. On Windows this uses MBCS functions and + so may fold case incorrectly leading to uncertain results. + -# Call LoadData() or LoadFile() to load and parse the INI configuration file + -# Access and modify the data of the file using the following functions + +
GetAllSections Return all section names +
GetAllKeys Return all key names within a section +
GetAllValues Return all values within a section & key +
GetSection Return all key names and values in a section +
GetSectionSize Return the number of keys in a section +
GetValue Return a value for a section & key +
SetValue Add or update a value for a section & key +
Delete Remove a section, or a key from a section +
SectionExists Does a section exist? +
KeyExists Does a key exist? +
+ -# Call Save() or SaveFile() to save the INI configuration data + + @section iostreams IO STREAMS + + SimpleIni supports reading from and writing to STL IO streams. Enable this + by defining SI_SUPPORT_IOSTREAMS before including the SimpleIni.h header + file. Ensure that if the streams are backed by a file (e.g. ifstream or + ofstream) then the flag ios_base::binary has been used when the file was + opened. + + @section multiline MULTI-LINE VALUES + + Values that span multiple lines are created using the following format. + + 
+        key = <<
+
+    Note the following:
+    - The text used for ENDTAG can be anything and is used to find
+      where the multi-line text ends.
+    - The newline after ENDTAG in the start tag, and the newline
+      before ENDTAG in the end tag is not included in the data value.
+    - The ending tag must be on it's own line with no whitespace before
+      or after it.
+    - The multi-line value is modified at load so that each line in the value
+      is delimited by a single '\\n' character on all platforms. At save time
+      it will be converted into the newline format used by the current
+      platform.
+
+    @section comments COMMENTS
+
+    Comments are preserved in the file within the following restrictions:
+    - Every file may have a single "file comment". It must start with the
+      first character in the file, and will end with the first non-comment
+      line in the file.
+    - Every section may have a single "section comment". It will start
+      with the first comment line following the file comment, or the last
+      data entry. It ends at the beginning of the section.
+    - Every key may have a single "key comment". This comment will start
+      with the first comment line following the section start, or the file
+      comment if there is no section name.
+    - Comments are set at the time that the file, section or key is first
+      created. The only way to modify a comment on a section or a key is to
+      delete that entry and recreate it with the new comment. There is no
+      way to change the file comment.
+
+    @section save SAVE ORDER
+
+    The sections and keys are written out in the same order as they were
+    read in from the file. Sections and keys added to the data after the
+    file has been loaded will be added to the end of the file when it is
+    written. There is no way to specify the location of a section or key
+    other than in first-created, first-saved order.
+
+    @section notes NOTES
+
+    - To load UTF-8 data on Windows 95, you need to use Microsoft Layer for
+      Unicode, or SI_CONVERT_GENERIC, or SI_CONVERT_ICU.
+    - When using SI_CONVERT_GENERIC, ConvertUTF.c must be compiled and linked.
+    - When using SI_CONVERT_ICU, ICU header files must be on the include
+      path and icuuc.lib must be linked in.
+    - To load a UTF-8 file on Windows AND expose it with SI_CHAR == char,
+      you should use SI_CONVERT_GENERIC.
+    - The collation (sorting) order used for sections and keys returned from
+      iterators is NOT DEFINED. If collation order of the text is important
+      then it should be done yourself by either supplying a replacement
+      SI_STRLESS class, or by sorting the strings external to this library.
+    - Usage of the  header on Windows can be disabled by defining
+      SI_NO_MBCS. This is defined automatically on Windows CE platforms.
+    - Not thread-safe so manage your own locking
+
+    @section contrib CONTRIBUTIONS
+    
+    - 2010/05/03: Tobias Gehrig: added GetDoubleValue()
+
+    @section licence MIT LICENCE
+
+    The licence text below is the boilerplate "MIT Licence" used from:
+    http://www.opensource.org/licenses/mit-license.php
+
+    Copyright (c) 2006-2012, Brodie Thiesfield
+
+    Permission is hereby granted, free of charge, to any person obtaining a copy
+    of this software and associated documentation files (the "Software"), to deal
+    in the Software without restriction, including without limitation the rights
+    to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+    copies of the Software, and to permit persons to whom the Software is furnished
+    to do so, subject to the following conditions:
+
+    The above copyright notice and this permission notice shall be included in
+    all copies or substantial portions of the Software.
+
+    THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+    IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+    FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+    COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+    IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+    CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+*/
+
+#ifndef INCLUDED_SimpleIni_h
+#define INCLUDED_SimpleIni_h
+
+#if defined(_MSC_VER) && (_MSC_VER >= 1020)
+# pragma once
+#endif
+
+// Disable these warnings in MSVC:
+//  4127 "conditional expression is constant" as the conversion classes trigger
+//  it with the statement if (sizeof(SI_CHAR) == sizeof(char)). This test will
+//  be optimized away in a release build.
+//  4503 'insert' : decorated name length exceeded, name was truncated
+//  4702 "unreachable code" as the MS STL header causes it in release mode.
+//  Again, the code causing the warning will be cleaned up by the compiler.
+//  4786 "identifier truncated to 256 characters" as this is thrown hundreds
+//  of times VC6 as soon as STL is used.
+#ifdef _MSC_VER
+# pragma warning (push)
+# pragma warning (disable: 4127 4503 4702 4786)
+#endif
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#ifdef SI_SUPPORT_IOSTREAMS
+# include 
+#endif // SI_SUPPORT_IOSTREAMS
+
+#ifdef _DEBUG
+# ifndef assert
+#  include 
+# endif
+# define SI_ASSERT(x)   assert(x)
+#else
+# define SI_ASSERT(x)
+#endif
+
+using SI_Error = int;
+
+constexpr int SI_OK = 0;        //!< No error
+constexpr int SI_UPDATED = 1;   //!< An existing value was updated
+constexpr int SI_INSERTED = 2;  //!< A new value was inserted
+
+// note: test for any error with (retval < 0)
+constexpr int SI_FAIL = -1;     //!< Generic failure
+constexpr int SI_NOMEM = -2;    //!< Out of memory error
+constexpr int SI_FILE = -3;     //!< File error (see errno for detail error)
+
+#define SI_UTF8_SIGNATURE     "\xEF\xBB\xBF"
+
+#ifdef _WIN32
+# define SI_NEWLINE_A   "\r\n"
+# define SI_NEWLINE_W   L"\r\n"
+#else // !_WIN32
+# define SI_NEWLINE_A   "\n"
+# define SI_NEWLINE_W   L"\n"
+#endif // _WIN32
+
+#if defined(SI_CONVERT_ICU)
+# include 
+#endif
+
+#if defined(_WIN32)
+# define SI_HAS_WIDE_FILE
+# define SI_WCHAR_T     wchar_t
+#elif defined(SI_CONVERT_ICU)
+# define SI_HAS_WIDE_FILE
+# define SI_WCHAR_T     UChar
+#endif
+
+
+// ---------------------------------------------------------------------------
+//                              MAIN TEMPLATE CLASS
+// ---------------------------------------------------------------------------
+
+/** Simple INI file reader.
+
+    This can be instantiated with the choice of unicode or native characterset,
+    and case sensitive or insensitive comparisons of section and key names.
+    The supported combinations are pre-defined with the following typedefs:
+
+    
+        
Interface   Case-sensitive  Typedef
+        
char        No              CSimpleIniA
+        
char        Yes             CSimpleIniCaseA
+        
wchar_t     No              CSimpleIniW
+        
wchar_t     Yes             CSimpleIniCaseW
+    

+
+    Note that using other types for the SI_CHAR is supported. For instance,
+    unsigned char, unsigned short, etc. Note that where the alternative type
+    is a different size to char/wchar_t you may need to supply new helper
+    classes for SI_STRLESS and SI_CONVERTER.
+ */
+template
+class CSimpleIniTempl
+{
+public:
+    typedef SI_CHAR SI_CHAR_T;
+
+    /** key entry */
+    struct Entry {
+        const SI_CHAR * pItem;
+        const SI_CHAR * pComment;
+        int             nOrder;
+
+        Entry(const SI_CHAR * a_pszItem = NULL, int a_nOrder = 0)
+            : pItem(a_pszItem)
+            , pComment(NULL)
+            , nOrder(a_nOrder)
+        { }
+        Entry(const SI_CHAR * a_pszItem, const SI_CHAR * a_pszComment, int a_nOrder)
+            : pItem(a_pszItem)
+            , pComment(a_pszComment)
+            , nOrder(a_nOrder)
+        { }
+        Entry(const Entry & rhs) { operator=(rhs); }
+        Entry & operator=(const Entry & rhs) {
+            pItem    = rhs.pItem;
+            pComment = rhs.pComment;
+            nOrder   = rhs.nOrder;
+            return *this;
+        }
+
+#if defined(_MSC_VER) && _MSC_VER <= 1200
+        /** STL of VC6 doesn't allow me to specify my own comparator for list::sort() */
+        bool operator<(const Entry & rhs) const { return LoadOrder()(*this, rhs); }
+        bool operator>(const Entry & rhs) const { return LoadOrder()(rhs, *this); }
+#endif
+
+        /** Strict less ordering by name of key only */
+        struct KeyOrder {
+            bool operator()(const Entry & lhs, const Entry & rhs) const {
+                const static SI_STRLESS isLess = SI_STRLESS();
+                return isLess(lhs.pItem, rhs.pItem);
+            }
+        };
+
+        /** Strict less ordering by order, and then name of key */
+        struct LoadOrder {
+            bool operator()(const Entry & lhs, const Entry & rhs) const {
+                if (lhs.nOrder != rhs.nOrder) {
+                    return lhs.nOrder < rhs.nOrder;
+                }
+                return KeyOrder()(lhs.pItem, rhs.pItem);
+            }
+        };
+    };
+
+    /** map keys to values */
+    typedef std::multimap TKeyVal;
+
+    /** map sections to key/value map */
+    typedef std::map TSection;
+
+    /** set of dependent string pointers. Note that these pointers are
+        dependent on memory owned by CSimpleIni.
+    */
+    typedef std::list TNamesDepend;
+
+    /** interface definition for the OutputWriter object to pass to Save()
+        in order to output the INI file data.
+    */
+    class OutputWriter {
+    public:
+        OutputWriter() { }
+        virtual ~OutputWriter() { }
+        virtual void Write(const char * a_pBuf) = 0;
+    private:
+        OutputWriter(const OutputWriter &);             // disable
+        OutputWriter & operator=(const OutputWriter &); // disable
+    };
+
+    /** OutputWriter class to write the INI data to a file */
+    class FileWriter : public OutputWriter {
+        FILE * m_file;
+    public:
+        FileWriter(FILE * a_file) : m_file(a_file) { }
+        void Write(const char * a_pBuf) {
+            fputs(a_pBuf, m_file);
+        }
+    private:
+        FileWriter(const FileWriter &);             // disable
+        FileWriter & operator=(const FileWriter &); // disable
+    };
+
+    /** OutputWriter class to write the INI data to a string */
+    class StringWriter : public OutputWriter {
+        std::string & m_string;
+    public:
+        StringWriter(std::string & a_string) : m_string(a_string) { }
+        void Write(const char * a_pBuf) {
+            m_string.append(a_pBuf);
+        }
+    private:
+        StringWriter(const StringWriter &);             // disable
+        StringWriter & operator=(const StringWriter &); // disable
+    };
+
+#ifdef SI_SUPPORT_IOSTREAMS
+    /** OutputWriter class to write the INI data to an ostream */
+    class StreamWriter : public OutputWriter {
+        std::ostream & m_ostream;
+    public:
+        StreamWriter(std::ostream & a_ostream) : m_ostream(a_ostream) { }
+        void Write(const char * a_pBuf) {
+            m_ostream << a_pBuf;
+        }
+    private:
+        StreamWriter(const StreamWriter &);             // disable
+        StreamWriter & operator=(const StreamWriter &); // disable
+    };
+#endif // SI_SUPPORT_IOSTREAMS
+
+    /** Characterset conversion utility class to convert strings to the
+        same format as is used for the storage.
+    */
+    class Converter : private SI_CONVERTER {
+    public:
+        Converter(bool a_bStoreIsUtf8) : SI_CONVERTER(a_bStoreIsUtf8) {
+            m_scratch.resize(1024);
+        }
+        Converter(const Converter & rhs) { operator=(rhs); }
+        Converter & operator=(const Converter & rhs) {
+            m_scratch = rhs.m_scratch;
+            return *this;
+        }
+        bool ConvertToStore(const SI_CHAR * a_pszString) {
+            size_t uLen = SI_CONVERTER::SizeToStore(a_pszString);
+            if (uLen == (size_t)(-1)) {
+                return false;
+            }
+            while (uLen > m_scratch.size()) {
+                m_scratch.resize(m_scratch.size() * 2);
+            }
+            return SI_CONVERTER::ConvertToStore(
+                a_pszString,
+                const_cast(m_scratch.data()),
+                m_scratch.size());
+        }
+        const char * Data() { return m_scratch.data(); }
+    private:
+        std::string m_scratch;
+    };
+
+public:
+    /*-----------------------------------------------------------------------*/
+
+    /** Default constructor.
+
+        @param a_bIsUtf8     See the method SetUnicode() for details.
+        @param a_bMultiKey   See the method SetMultiKey() for details.
+        @param a_bMultiLine  See the method SetMultiLine() for details.
+     */
+    CSimpleIniTempl(
+        bool a_bIsUtf8    = false,
+        bool a_bMultiKey  = false,
+        bool a_bMultiLine = false
+        );
+
+    /** Destructor */
+    ~CSimpleIniTempl();
+
+    /** Deallocate all memory stored by this object */
+    void Reset();
+
+    /** Has any data been loaded */
+    bool IsEmpty() const { return m_data.empty(); }
+
+    /*-----------------------------------------------------------------------*/
+    /** @{ @name Settings */
+
+    /** Set the storage format of the INI data. This affects both the loading
+        and saving of the INI data using all of the Load/Save API functions.
+        This value cannot be changed after any INI data has been loaded.
+
+        If the file is not set to Unicode (UTF-8), then the data encoding is
+        assumed to be the OS native encoding. This encoding is the system
+        locale on Linux/Unix and the legacy MBCS encoding on Windows NT/2K/XP.
+        If the storage format is set to Unicode then the file will be loaded
+        as UTF-8 encoded data regardless of the native file encoding. If
+        SI_CHAR == char then all of the char* parameters take and return UTF-8
+        encoded data regardless of the system locale.
+
+        \param a_bIsUtf8     Assume UTF-8 encoding for the source?
+     */
+    void SetUnicode(bool a_bIsUtf8 = true) {
+        if (!m_pData) m_bStoreIsUtf8 = a_bIsUtf8;
+    }
+
+    /** Get the storage format of the INI data. */
+    bool IsUnicode() const { return m_bStoreIsUtf8; }
+
+    /** Should multiple identical keys be permitted in the file. If set to false
+        then the last value encountered will be used as the value of the key.
+        If set to true, then all values will be available to be queried. For
+        example, with the following input:
+
+        
+        [section]
+        test=value1
+        test=value2
+        

+
+        Then with SetMultiKey(true), both of the values "value1" and "value2"
+        will be returned for the key test. If SetMultiKey(false) is used, then
+        the value for "test" will only be "value2". This value may be changed
+        at any time.
+
+        \param a_bAllowMultiKey  Allow multi-keys in the source?
+     */
+    void SetMultiKey(bool a_bAllowMultiKey = true) {
+        m_bAllowMultiKey = a_bAllowMultiKey;
+    }
+
+    /** Get the storage format of the INI data. */
+    bool IsMultiKey() const { return m_bAllowMultiKey; }
+
+    /** Should data values be permitted to span multiple lines in the file. If
+        set to false then the multi-line construct <<
+            SI_CHAR     FORMAT
+            char        same format as when loaded (MBCS or UTF-8)
+            wchar_t     UTF-8
+            other       UTF-8
+        
+
+        Note that comments from the original data is preserved as per the
+        documentation on comments. The order of the sections and values
+        from the original file will be preserved.
+
+        Any data prepended or appended to the output device must use the the
+        same format (MBCS or UTF-8). You may use the GetConverter() method to
+        convert text to the correct format regardless of the output format
+        being used by SimpleIni.
+
+        To add a BOM to UTF-8 data, write it out manually at the very beginning
+        like is done in SaveFile when a_bUseBOM is true.
+
+        @param a_oOutput    Output writer to write the data to.
+
+        @param a_bAddSignature  Prepend the UTF-8 BOM if the output data is in
+                            UTF-8 format. If it is not UTF-8 then this value is
+                            ignored. Do not set this to true if anything has
+                            already been written to the OutputWriter.
+
+        @return SI_Error    See error definitions
+     */
+    SI_Error Save(
+        OutputWriter &  a_oOutput,
+        bool            a_bAddSignature = false
+        ) const;
+
+#ifdef SI_SUPPORT_IOSTREAMS
+    /** Save the INI data to an ostream. See Save() for details.
+
+        @param a_ostream    String to have the INI data appended to.
+
+        @param a_bAddSignature  Prepend the UTF-8 BOM if the output data is in
+                            UTF-8 format. If it is not UTF-8 then this value is
+                            ignored. Do not set this to true if anything has
+                            already been written to the stream.
+
+        @return SI_Error    See error definitions
+     */
+    SI_Error Save(
+        std::ostream &  a_ostream,
+        bool            a_bAddSignature = false
+        ) const
+    {
+        StreamWriter writer(a_ostream);
+        return Save(writer, a_bAddSignature);
+    }
+#endif // SI_SUPPORT_IOSTREAMS
+
+    /** Append the INI data to a string. See Save() for details.
+
+        @param a_sBuffer    String to have the INI data appended to.
+
+        @param a_bAddSignature  Prepend the UTF-8 BOM if the output data is in
+                            UTF-8 format. If it is not UTF-8 then this value is
+                            ignored. Do not set this to true if anything has
+                            already been written to the string.
+
+        @return SI_Error    See error definitions
+     */
+    SI_Error Save(
+        std::string &   a_sBuffer,
+        bool            a_bAddSignature = false
+        ) const
+    {
+        StringWriter writer(a_sBuffer);
+        return Save(writer, a_bAddSignature);
+    }
+
+    /*-----------------------------------------------------------------------*/
+    /** @}
+        @{ @name Accessing INI Data */
+
+    /** Retrieve all section names. The list is returned as an STL vector of
+        names and can be iterated or searched as necessary. Note that the
+        sort order of the returned strings is NOT DEFINED. You can sort
+        the names into the load order if desired. Search this file for ".sort"
+        for an example.
+
+        NOTE! This structure contains only pointers to strings. The actual
+        string data is stored in memory owned by CSimpleIni. Ensure that the
+        CSimpleIni object is not destroyed or Reset() while these pointers
+        are in use!
+
+        @param a_names          Vector that will receive all of the section
+                                 names. See note above!
+     */
+    void GetAllSections(
+        TNamesDepend & a_names
+        ) const;
+
+    /** Retrieve all unique key names in a section. The sort order of the
+        returned strings is NOT DEFINED. You can sort the names into the load 
+        order if desired. Search this file for ".sort" for an example. Only 
+        unique key names are returned.
+
+        NOTE! This structure contains only pointers to strings. The actual
+        string data is stored in memory owned by CSimpleIni. Ensure that the
+        CSimpleIni object is not destroyed or Reset() while these strings
+        are in use!
+
+        @param a_pSection       Section to request data for
+        @param a_names          List that will receive all of the key
+                                 names. See note above!
+
+        @return true            Section was found.
+        @return false           Matching section was not found.
+     */
+    bool GetAllKeys(
+        const SI_CHAR * a_pSection,
+        TNamesDepend &  a_names
+        ) const;
+
+    /** Retrieve all values for a specific key. This method can be used when
+        multiple keys are both enabled and disabled. Note that the sort order 
+        of the returned strings is NOT DEFINED. You can sort the names into 
+        the load order if desired. Search this file for ".sort" for an example.
+
+        NOTE! The returned values are pointers to string data stored in memory
+        owned by CSimpleIni. Ensure that the CSimpleIni object is not destroyed
+        or Reset while you are using this pointer!
+
+        @param a_pSection       Section to search
+        @param a_pKey           Key to search for
+        @param a_values         List to return if the key is not found
+
+        @return true            Key was found.
+        @return false           Matching section/key was not found.
+     */
+    bool GetAllValues(
+        const SI_CHAR * a_pSection,
+        const SI_CHAR * a_pKey,
+        TNamesDepend &  a_values
+        ) const;
+
+    /** Query the number of keys in a specific section. Note that if multiple
+        keys are enabled, then this value may be different to the number of
+        keys returned by GetAllKeys.
+
+        @param a_pSection       Section to request data for
+
+        @return -1              Section does not exist in the file
+        @return >=0             Number of keys in the section
+     */
+    int GetSectionSize(
+        const SI_CHAR * a_pSection
+        ) const;
+
+    /** Retrieve all key and value pairs for a section. The data is returned
+        as a pointer to an STL map and can be iterated or searched as
+        desired. Note that multiple entries for the same key may exist when
+        multiple keys have been enabled.
+
+        NOTE! This structure contains only pointers to strings. The actual
+        string data is stored in memory owned by CSimpleIni. Ensure that the
+        CSimpleIni object is not destroyed or Reset() while these strings
+        are in use!
+
+        @param a_pSection       Name of the section to return
+        @return                 Section data
+     */
+    const TKeyVal * GetSection(
+        const SI_CHAR * a_pSection
+        ) const;
+
+    /** Test if a section exists. Convenience function */
+    inline bool SectionExists(
+        const SI_CHAR * a_pSection
+    ) const {
+        return GetSection(a_pSection) != NULL;
+    }
+
+    /** Test if the key exists in a section. Convenience function. */
+    inline bool KeyExists(
+        const SI_CHAR * a_pSection,
+        const SI_CHAR * a_pKey
+    ) const {
+        return GetValue(a_pSection, a_pKey) != NULL;
+    }
+
+    /** Retrieve the value for a specific key. If multiple keys are enabled
+        (see SetMultiKey) then only the first value associated with that key
+        will be returned, see GetAllValues for getting all values with multikey.
+
+        NOTE! The returned value is a pointer to string data stored in memory
+        owned by CSimpleIni. Ensure that the CSimpleIni object is not destroyed
+        or Reset while you are using this pointer!
+
+        @param a_pSection       Section to search
+        @param a_pKey           Key to search for
+        @param a_pDefault       Value to return if the key is not found
+        @param a_pHasMultiple   Optionally receive notification of if there are
+                                multiple entries for this key.
+
+        @return a_pDefault      Key was not found in the section
+        @return other           Value of the key
+     */
+    const SI_CHAR * GetValue(
+        const SI_CHAR * a_pSection,
+        const SI_CHAR * a_pKey,
+        const SI_CHAR * a_pDefault     = NULL,
+        bool *          a_pHasMultiple = NULL
+        ) const;
+
+    /** Retrieve a numeric value for a specific key. If multiple keys are enabled
+        (see SetMultiKey) then only the first value associated with that key
+        will be returned, see GetAllValues for getting all values with multikey.
+
+        @param a_pSection       Section to search
+        @param a_pKey           Key to search for
+        @param a_nDefault       Value to return if the key is not found
+        @param a_pHasMultiple   Optionally receive notification of if there are
+                                multiple entries for this key.
+
+        @return a_nDefault      Key was not found in the section
+        @return other           Value of the key
+     */
+    long GetLongValue(
+        const SI_CHAR * a_pSection,
+        const SI_CHAR * a_pKey,
+        long            a_nDefault     = 0,
+        bool *          a_pHasMultiple = NULL
+        ) const;
+
+    /** Retrieve a numeric value for a specific key. If multiple keys are enabled
+        (see SetMultiKey) then only the first value associated with that key
+        will be returned, see GetAllValues for getting all values with multikey.
+
+        @param a_pSection       Section to search
+        @param a_pKey           Key to search for
+        @param a_nDefault       Value to return if the key is not found
+        @param a_pHasMultiple   Optionally receive notification of if there are
+                                multiple entries for this key.
+
+        @return a_nDefault      Key was not found in the section
+        @return other           Value of the key
+     */
+    double GetDoubleValue(
+        const SI_CHAR * a_pSection,
+        const SI_CHAR * a_pKey,
+        double          a_nDefault     = 0,
+        bool *          a_pHasMultiple = NULL
+        ) const;
+
+    /** Retrieve a boolean value for a specific key. If multiple keys are enabled
+        (see SetMultiKey) then only the first value associated with that key
+        will be returned, see GetAllValues for getting all values with multikey.
+
+        Strings starting with "t", "y", "on" or "1" are returned as logically true.
+        Strings starting with "f", "n", "of" or "0" are returned as logically false.
+        For all other values the default is returned. Character comparisons are 
+        case-insensitive.
+
+        @param a_pSection       Section to search
+        @param a_pKey           Key to search for
+        @param a_bDefault       Value to return if the key is not found
+        @param a_pHasMultiple   Optionally receive notification of if there are
+                                multiple entries for this key.
+
+        @return a_nDefault      Key was not found in the section
+        @return other           Value of the key
+     */
+    bool GetBoolValue(
+        const SI_CHAR * a_pSection,
+        const SI_CHAR * a_pKey,
+        bool            a_bDefault     = false,
+        bool *          a_pHasMultiple = NULL
+        ) const;
+
+    /** Add or update a section or value. This will always insert
+        when multiple keys are enabled.
+
+        @param a_pSection   Section to add or update
+        @param a_pKey       Key to add or update. Set to NULL to
+                            create an empty section.
+        @param a_pValue     Value to set. Set to NULL to create an
+                            empty section.
+        @param a_pComment   Comment to be associated with the section or the
+                            key. If a_pKey is NULL then it will be associated
+                            with the section, otherwise the key. Note that a
+                            comment may be set ONLY when the section or key is
+                            first created (i.e. when this function returns the
+                            value SI_INSERTED). If you wish to create a section
+                            with a comment then you need to create the section
+                            separately to the key. The comment string must be
+                            in full comment form already (have a comment
+                            character starting every line).
+        @param a_bForceReplace  Should all existing values in a multi-key INI
+                            file be replaced with this entry. This option has
+                            no effect if not using multi-key files. The 
+                            difference between Delete/SetValue and SetValue
+                            with a_bForceReplace = true, is that the load 
+                            order and comment will be preserved this way.
+
+        @return SI_Error    See error definitions
+        @return SI_UPDATED  Value was updated
+        @return SI_INSERTED Value was inserted
+     */
+    SI_Error SetValue(
+        const SI_CHAR * a_pSection,
+        const SI_CHAR * a_pKey,
+        const SI_CHAR * a_pValue,
+        const SI_CHAR * a_pComment      = NULL,
+        bool            a_bForceReplace = false
+        )
+    {
+        return AddEntry(a_pSection, a_pKey, a_pValue, a_pComment, a_bForceReplace, true);
+    }
+
+    /** Add or update a numeric value. This will always insert
+        when multiple keys are enabled.
+
+        @param a_pSection   Section to add or update
+        @param a_pKey       Key to add or update. 
+        @param a_nValue     Value to set. 
+        @param a_pComment   Comment to be associated with the key. See the 
+                            notes on SetValue() for comments.
+        @param a_bUseHex    By default the value will be written to the file 
+                            in decimal format. Set this to true to write it 
+                            as hexadecimal.
+        @param a_bForceReplace  Should all existing values in a multi-key INI
+                            file be replaced with this entry. This option has
+                            no effect if not using multi-key files. The 
+                            difference between Delete/SetLongValue and 
+                            SetLongValue with a_bForceReplace = true, is that 
+                            the load order and comment will be preserved this 
+                            way.
+
+        @return SI_Error    See error definitions
+        @return SI_UPDATED  Value was updated
+        @return SI_INSERTED Value was inserted
+     */
+    SI_Error SetLongValue(
+        const SI_CHAR * a_pSection,
+        const SI_CHAR * a_pKey,
+        long            a_nValue,
+        const SI_CHAR * a_pComment      = NULL,
+        bool            a_bUseHex       = false,
+        bool            a_bForceReplace = false
+        );
+
+    /** Add or update a double value. This will always insert
+        when multiple keys are enabled.
+
+        @param a_pSection   Section to add or update
+        @param a_pKey       Key to add or update. 
+        @param a_nValue     Value to set. 
+        @param a_pComment   Comment to be associated with the key. See the 
+                            notes on SetValue() for comments.
+        @param a_bForceReplace  Should all existing values in a multi-key INI
+                            file be replaced with this entry. This option has
+                            no effect if not using multi-key files. The 
+                            difference between Delete/SetDoubleValue and 
+                            SetDoubleValue with a_bForceReplace = true, is that 
+                            the load order and comment will be preserved this 
+                            way.
+
+        @return SI_Error    See error definitions
+        @return SI_UPDATED  Value was updated
+        @return SI_INSERTED Value was inserted
+     */
+    SI_Error SetDoubleValue(
+        const SI_CHAR * a_pSection,
+        const SI_CHAR * a_pKey,
+        double          a_nValue,
+        const SI_CHAR * a_pComment      = NULL,
+        bool            a_bForceReplace = false
+        );
+
+    /** Add or update a boolean value. This will always insert
+        when multiple keys are enabled.
+
+        @param a_pSection   Section to add or update
+        @param a_pKey       Key to add or update. 
+        @param a_bValue     Value to set. 
+        @param a_pComment   Comment to be associated with the key. See the 
+                            notes on SetValue() for comments.
+        @param a_bForceReplace  Should all existing values in a multi-key INI
+                            file be replaced with this entry. This option has
+                            no effect if not using multi-key files. The 
+                            difference between Delete/SetBoolValue and 
+                            SetBoolValue with a_bForceReplace = true, is that 
+                            the load order and comment will be preserved this 
+                            way.
+
+        @return SI_Error    See error definitions
+        @return SI_UPDATED  Value was updated
+        @return SI_INSERTED Value was inserted
+     */
+    SI_Error SetBoolValue(
+        const SI_CHAR * a_pSection,
+        const SI_CHAR * a_pKey,
+        bool            a_bValue,
+        const SI_CHAR * a_pComment      = NULL,
+        bool            a_bForceReplace = false
+        );
+
+    /** Delete an entire section, or a key from a section. Note that the
+        data returned by GetSection is invalid and must not be used after
+        anything has been deleted from that section using this method.
+        Note when multiple keys is enabled, this will delete all keys with
+        that name; to selectively delete individual key/values, use
+        DeleteValue.
+
+        @param a_pSection       Section to delete key from, or if
+                                a_pKey is NULL, the section to remove.
+        @param a_pKey           Key to remove from the section. Set to
+                                NULL to remove the entire section.
+        @param a_bRemoveEmpty   If the section is empty after this key has
+                                been deleted, should the empty section be
+                                removed?
+
+        @return true            Key or section was deleted.
+        @return false           Key or section was not found.
+     */
+    bool Delete(
+        const SI_CHAR * a_pSection,
+        const SI_CHAR * a_pKey,
+        bool            a_bRemoveEmpty = false
+        );
+
+    /** Delete an entire section, or a key from a section. If value is
+        provided, only remove keys with the value. Note that the data
+        returned by GetSection is invalid and must not be used after
+        anything has been deleted from that section using this method.
+        Note when multiple keys is enabled, all keys with the value will
+        be deleted.
+
+        @param a_pSection       Section to delete key from, or if
+                                a_pKey is NULL, the section to remove.
+        @param a_pKey           Key to remove from the section. Set to
+                                NULL to remove the entire section.
+        @param a_pValue         Value of key to remove from the section.
+                                Set to NULL to remove all keys.
+        @param a_bRemoveEmpty   If the section is empty after this key has
+                                been deleted, should the empty section be
+                                removed?
+
+        @return true            Key/value or section was deleted.
+        @return false           Key/value or section was not found.
+     */
+    bool DeleteValue(
+        const SI_CHAR * a_pSection,
+        const SI_CHAR * a_pKey,
+        const SI_CHAR * a_pValue,
+        bool            a_bRemoveEmpty = false
+        );
+
+    /*-----------------------------------------------------------------------*/
+    /** @}
+        @{ @name Converter */
+
+    /** Return a conversion object to convert text to the same encoding
+        as is used by the Save(), SaveFile() and SaveString() functions.
+        Use this to prepare the strings that you wish to append or prepend
+        to the output INI data.
+     */
+    Converter GetConverter() const {
+        return Converter(m_bStoreIsUtf8);
+    }
+
+    /*-----------------------------------------------------------------------*/
+    /** @} */
+
+private:
+    // copying is not permitted
+    CSimpleIniTempl(const CSimpleIniTempl &); // disabled
+    CSimpleIniTempl & operator=(const CSimpleIniTempl &); // disabled
+
+    /** Parse the data looking for a file comment and store it if found.
+    */
+    SI_Error FindFileComment(
+        SI_CHAR *&      a_pData,
+        bool            a_bCopyStrings
+        );
+
+    /** Parse the data looking for the next valid entry. The memory pointed to
+        by a_pData is modified by inserting NULL characters. The pointer is
+        updated to the current location in the block of text.
+    */
+    bool FindEntry(
+        SI_CHAR *&  a_pData,
+        const SI_CHAR *&  a_pSection,
+        const SI_CHAR *&  a_pKey,
+        const SI_CHAR *&  a_pVal,
+        const SI_CHAR *&  a_pComment
+        ) const;
+
+    /** Add the section/key/value to our data.
+
+        @param a_pSection   Section name. Sections will be created if they
+                            don't already exist.
+        @param a_pKey       Key name. May be NULL to create an empty section.
+                            Existing entries will be updated. New entries will
+                            be created.
+        @param a_pValue     Value for the key.
+        @param a_pComment   Comment to be associated with the section or the
+                            key. If a_pKey is NULL then it will be associated
+                            with the section, otherwise the key. This must be
+                            a string in full comment form already (have a
+                            comment character starting every line).
+        @param a_bForceReplace  Should all existing values in a multi-key INI
+                            file be replaced with this entry. This option has
+                            no effect if not using multi-key files. The 
+                            difference between Delete/AddEntry and AddEntry
+                            with a_bForceReplace = true, is that the load 
+                            order and comment will be preserved this way.
+        @param a_bCopyStrings   Should copies of the strings be made or not.
+                            If false then the pointers will be used as is.
+    */
+    SI_Error AddEntry(
+        const SI_CHAR * a_pSection,
+        const SI_CHAR * a_pKey,
+        const SI_CHAR * a_pValue,
+        const SI_CHAR * a_pComment,
+        bool            a_bForceReplace,
+        bool            a_bCopyStrings
+        );
+
+    /** Is the supplied character a whitespace character? */
+    inline bool IsSpace(SI_CHAR ch) const {
+        return (ch == ' ' || ch == '\t' || ch == '\r' || ch == '\n');
+    }
+
+    /** Does the supplied character start a comment line? */
+    inline bool IsComment(SI_CHAR ch) const {
+        return (ch == ';' || ch == '#');
+    }
+
+
+    /** Skip over a newline character (or characters) for either DOS or UNIX */
+    inline void SkipNewLine(SI_CHAR *& a_pData) const {
+        a_pData += (*a_pData == '\r' && *(a_pData+1) == '\n') ? 2 : 1;
+    }
+
+    /** Make a copy of the supplied string, replacing the original pointer */
+    SI_Error CopyString(const SI_CHAR *& a_pString);
+
+    /** Delete a string from the copied strings buffer if necessary */
+    void DeleteString(const SI_CHAR * a_pString);
+
+    /** Internal use of our string comparison function */
+    bool IsLess(const SI_CHAR * a_pLeft, const SI_CHAR * a_pRight) const {
+        const static SI_STRLESS isLess = SI_STRLESS();
+        return isLess(a_pLeft, a_pRight);
+    }
+
+    bool IsMultiLineTag(const SI_CHAR * a_pData) const;
+    bool IsMultiLineData(const SI_CHAR * a_pData) const;
+    bool IsSingleLineQuotedValue(const SI_CHAR* a_pData) const;
+    bool LoadMultiLineText(
+        SI_CHAR *&          a_pData,
+        const SI_CHAR *&    a_pVal,
+        const SI_CHAR *     a_pTagName,
+        bool                a_bAllowBlankLinesInComment = false
+        ) const;
+    bool IsNewLineChar(SI_CHAR a_c) const;
+
+    bool OutputMultiLineText(
+        OutputWriter &  a_oOutput,
+        Converter &     a_oConverter,
+        const SI_CHAR * a_pText
+        ) const;
+
+private:
+    /** Copy of the INI file data in our character format. This will be
+        modified when parsed to have NULL characters added after all
+        interesting string entries. All of the string pointers to sections,
+        keys and values point into this block of memory.
+     */
+    SI_CHAR * m_pData;
+
+    /** Length of the data that we have stored. Used when deleting strings
+        to determine if the string is stored here or in the allocated string
+        buffer.
+     */
+    size_t m_uDataLen;
+
+    /** File comment for this data, if one exists. */
+    const SI_CHAR * m_pFileComment;
+
+    /** constant empty string */
+    const SI_CHAR m_cEmptyString;
+
+    /** Parsed INI data. Section -> (Key -> Value). */
+    TSection m_data;
+
+    /** This vector stores allocated memory for copies of strings that have
+        been supplied after the file load. It will be empty unless SetValue()
+        has been called.
+     */
+    TNamesDepend m_strings;
+
+    /** Is the format of our datafile UTF-8 or MBCS? */
+    bool m_bStoreIsUtf8;
+
+    /** Are multiple values permitted for the same key? */
+    bool m_bAllowMultiKey;
+
+    /** Are data values permitted to span multiple lines? */
+    bool m_bAllowMultiLine;
+
+    /** Should spaces be written out surrounding the equals sign? */
+    bool m_bSpaces;
+    
+    /** Should quoted data in values be recognized and parsed? */
+    bool m_bParseQuotes;
+
+    /** Do keys always need to have an equals sign when reading/writing? */
+    bool m_bAllowKeyOnly;
+
+    /** Next order value, used to ensure sections and keys are output in the
+        same order that they are loaded/added.
+     */
+    int m_nOrder;
+};
+
+// ---------------------------------------------------------------------------
+//                                  IMPLEMENTATION
+// ---------------------------------------------------------------------------
+
+template
+CSimpleIniTempl::CSimpleIniTempl(
+    bool a_bIsUtf8,
+    bool a_bAllowMultiKey,
+    bool a_bAllowMultiLine
+    )
+  : m_pData(0)
+  , m_uDataLen(0)
+  , m_pFileComment(NULL)
+  , m_cEmptyString(0)
+  , m_bStoreIsUtf8(a_bIsUtf8)
+  , m_bAllowMultiKey(a_bAllowMultiKey)
+  , m_bAllowMultiLine(a_bAllowMultiLine)
+  , m_bSpaces(true)
+  , m_bParseQuotes(false)
+  , m_bAllowKeyOnly(false)
+  , m_nOrder(0)
+{ }
+
+template
+CSimpleIniTempl::~CSimpleIniTempl()
+{
+    Reset();
+}
+
+template
+void
+CSimpleIniTempl::Reset()
+{
+    // remove all data
+    delete[] m_pData;
+    m_pData = NULL;
+    m_uDataLen = 0;
+    m_pFileComment = NULL;
+    if (!m_data.empty()) {
+        m_data.erase(m_data.begin(), m_data.end());
+    }
+
+    // remove all strings
+    if (!m_strings.empty()) {
+        typename TNamesDepend::iterator i = m_strings.begin();
+        for (; i != m_strings.end(); ++i) {
+            delete[] const_cast(i->pItem);
+        }
+        m_strings.erase(m_strings.begin(), m_strings.end());
+    }
+}
+
+template
+SI_Error
+CSimpleIniTempl::LoadFile(
+    const char * a_pszFile
+    )
+{
+    FILE * fp = NULL;
+#if __STDC_WANT_SECURE_LIB__ && !_WIN32_WCE
+    fopen_s(&fp, a_pszFile, "rb");
+#else // !__STDC_WANT_SECURE_LIB__
+    fp = fopen(a_pszFile, "rb");
+#endif // __STDC_WANT_SECURE_LIB__
+    if (!fp) {
+        return SI_FILE;
+    }
+    SI_Error rc = LoadFile(fp);
+    fclose(fp);
+    return rc;
+}
+
+#ifdef SI_HAS_WIDE_FILE
+template
+SI_Error
+CSimpleIniTempl::LoadFile(
+    const SI_WCHAR_T * a_pwszFile
+    )
+{
+#ifdef _WIN32
+    FILE * fp = NULL;
+#if __STDC_WANT_SECURE_LIB__ && !_WIN32_WCE
+    _wfopen_s(&fp, a_pwszFile, L"rb");
+#else // !__STDC_WANT_SECURE_LIB__
+    fp = _wfopen(a_pwszFile, L"rb");
+#endif // __STDC_WANT_SECURE_LIB__
+    if (!fp) return SI_FILE;
+    SI_Error rc = LoadFile(fp);
+    fclose(fp);
+    return rc;
+#else // !_WIN32 (therefore SI_CONVERT_ICU)
+    char szFile[256];
+    u_austrncpy(szFile, a_pwszFile, sizeof(szFile));
+    return LoadFile(szFile);
+#endif // _WIN32
+}
+#endif // SI_HAS_WIDE_FILE
+
+template
+SI_Error
+CSimpleIniTempl::LoadFile(
+    FILE * a_fpFile
+    )
+{
+    // load the raw file data
+    int retval = fseek(a_fpFile, 0, SEEK_END);
+    if (retval != 0) {
+        return SI_FILE;
+    }
+    long lSize = ftell(a_fpFile);
+    if (lSize < 0) {
+        return SI_FILE;
+    }
+    if (lSize == 0) {
+        return SI_OK;
+    }
+    
+    // allocate and ensure NULL terminated
+    char * pData = new(std::nothrow) char[lSize+static_cast(1)];
+    if (!pData) {
+        return SI_NOMEM;
+    }
+    pData[lSize] = 0;
+    
+    // load data into buffer
+    fseek(a_fpFile, 0, SEEK_SET);
+    size_t uRead = fread(pData, sizeof(char), lSize, a_fpFile);
+    if (uRead != (size_t) lSize) {
+        delete[] pData;
+        return SI_FILE;
+    }
+
+    // convert the raw data to unicode
+    SI_Error rc = LoadData(pData, uRead);
+    delete[] pData;
+    return rc;
+}
+
+template
+SI_Error
+CSimpleIniTempl::LoadData(
+    const char *    a_pData,
+    size_t          a_uDataLen
+    )
+{
+    if (!a_pData) {
+        return SI_OK;
+    }
+    
+    // if the UTF-8 BOM exists, consume it and set mode to unicode, if we have
+    // already loaded data and try to change mode half-way through then this will
+    // be ignored and we will assert in debug versions
+    if (a_uDataLen >= 3 && memcmp(a_pData, SI_UTF8_SIGNATURE, 3) == 0) {
+        a_pData    += 3;
+        a_uDataLen -= 3;
+        SI_ASSERT(m_bStoreIsUtf8 || !m_pData); // we don't expect mixed mode data
+        SetUnicode();
+    }
+
+    if (a_uDataLen == 0) {
+        return SI_OK;
+    }
+
+    // determine the length of the converted data
+    SI_CONVERTER converter(m_bStoreIsUtf8);
+    size_t uLen = converter.SizeFromStore(a_pData, a_uDataLen);
+    if (uLen == (size_t)(-1)) {
+        return SI_FAIL;
+    }
+
+    // allocate memory for the data, ensure that there is a NULL
+    // terminator wherever the converted data ends
+    SI_CHAR * pData = new(std::nothrow) SI_CHAR[uLen+1];
+    if (!pData) {
+        return SI_NOMEM;
+    }
+    memset(pData, 0, sizeof(SI_CHAR)*(uLen+1));
+
+    // convert the data
+    if (!converter.ConvertFromStore(a_pData, a_uDataLen, pData, uLen)) {
+        delete[] pData;
+        return SI_FAIL;
+    }
+
+    // parse it
+    const static SI_CHAR empty = 0;
+    SI_CHAR * pWork = pData;
+    const SI_CHAR * pSection = ∅
+    const SI_CHAR * pItem = NULL;
+    const SI_CHAR * pVal = NULL;
+    const SI_CHAR * pComment = NULL;
+
+    // We copy the strings if we are loading data into this class when we
+    // already have stored some.
+    bool bCopyStrings = (m_pData != NULL);
+
+    // find a file comment if it exists, this is a comment that starts at the
+    // beginning of the file and continues until the first blank line.
+    SI_Error rc = FindFileComment(pWork, bCopyStrings);
+    if (rc < 0) return rc;
+
+    // add every entry in the file to the data table
+    while (FindEntry(pWork, pSection, pItem, pVal, pComment)) {
+        rc = AddEntry(pSection, pItem, pVal, pComment, false, bCopyStrings);
+        if (rc < 0) return rc;
+    }
+
+    // store these strings if we didn't copy them
+    if (bCopyStrings) {
+        delete[] pData;
+    }
+    else {
+        m_pData = pData;
+        m_uDataLen = uLen+1;
+    }
+
+    return SI_OK;
+}
+
+#ifdef SI_SUPPORT_IOSTREAMS
+template
+SI_Error
+CSimpleIniTempl::LoadData(
+    std::istream & a_istream
+    )
+{
+    std::string strData;
+    char szBuf[512];
+    do {
+        a_istream.get(szBuf, sizeof(szBuf), '\0');
+        strData.append(szBuf);
+    }
+    while (a_istream.good());
+    return LoadData(strData);
+}
+#endif // SI_SUPPORT_IOSTREAMS
+
+template
+SI_Error
+CSimpleIniTempl::FindFileComment(
+    SI_CHAR *&      a_pData,
+    bool            a_bCopyStrings
+    )
+{
+    // there can only be a single file comment
+    if (m_pFileComment) {
+        return SI_OK;
+    }
+
+    // Load the file comment as multi-line text, this will modify all of
+    // the newline characters to be single \n chars
+    if (!LoadMultiLineText(a_pData, m_pFileComment, NULL, false)) {
+        return SI_OK;
+    }
+
+    // copy the string if necessary
+    if (a_bCopyStrings) {
+        SI_Error rc = CopyString(m_pFileComment);
+        if (rc < 0) return rc;
+    }
+
+    return SI_OK;
+}
+
+template
+bool
+CSimpleIniTempl::FindEntry(
+    SI_CHAR *&        a_pData,
+    const SI_CHAR *&  a_pSection,
+    const SI_CHAR *&  a_pKey,
+    const SI_CHAR *&  a_pVal,
+    const SI_CHAR *&  a_pComment
+    ) const
+{
+    a_pComment = NULL;
+
+    bool bHaveValue = false;
+    SI_CHAR * pTrail = NULL;
+    while (*a_pData) {
+        // skip spaces and empty lines
+        while (*a_pData && IsSpace(*a_pData)) {
+            ++a_pData;
+        }
+        if (!*a_pData) {
+            break;
+        }
+
+        // skip processing of comment lines but keep a pointer to
+        // the start of the comment.
+        if (IsComment(*a_pData)) {
+            LoadMultiLineText(a_pData, a_pComment, NULL, true);
+            continue;
+        }
+
+        // process section names
+        if (*a_pData == '[') {
+            // skip leading spaces
+            ++a_pData;
+            while (*a_pData && IsSpace(*a_pData)) {
+                ++a_pData;
+            }
+
+            // find the end of the section name (it may contain spaces)
+            // and convert it to lowercase as necessary
+            a_pSection = a_pData;
+            while (*a_pData && *a_pData != ']' && !IsNewLineChar(*a_pData)) {
+                ++a_pData;
+            }
+
+            // if it's an invalid line, just skip it
+            if (*a_pData != ']') {
+                continue;
+            }
+
+            // remove trailing spaces from the section
+            pTrail = a_pData - 1;
+            while (pTrail >= a_pSection && IsSpace(*pTrail)) {
+                --pTrail;
+            }
+            ++pTrail;
+            *pTrail = 0;
+
+            // skip to the end of the line
+            ++a_pData;  // safe as checked that it == ']' above
+            while (*a_pData && !IsNewLineChar(*a_pData)) {
+                ++a_pData;
+            }
+
+            a_pKey = NULL;
+            a_pVal = NULL;
+            return true;
+        }
+
+        // find the end of the key name (it may contain spaces)
+        a_pKey = a_pData;
+        while (*a_pData && *a_pData != '=' && !IsNewLineChar(*a_pData)) {
+            ++a_pData;
+        }
+        // *a_pData is null, equals, or newline
+
+        // if no value and we don't allow no value, then invalid
+        bHaveValue = (*a_pData == '=');
+        if (!bHaveValue && !m_bAllowKeyOnly) {
+            continue;
+        }
+
+        // empty keys are invalid
+        if (bHaveValue && a_pKey == a_pData) {
+            while (*a_pData && !IsNewLineChar(*a_pData)) {
+                ++a_pData;
+            }
+            continue;
+        }
+
+        // remove trailing spaces from the key
+        pTrail = a_pData - 1;
+        while (pTrail >= a_pKey && IsSpace(*pTrail)) {
+            --pTrail;
+        }
+        ++pTrail;
+
+        if (bHaveValue) {
+            // process the value 
+            *pTrail = 0;
+
+            // skip leading whitespace on the value
+            ++a_pData;  // safe as checked that it == '=' above
+            while (*a_pData && !IsNewLineChar(*a_pData) && IsSpace(*a_pData)) {
+                ++a_pData;
+            }
+
+            // find the end of the value which is the end of this line
+            a_pVal = a_pData;
+            while (*a_pData && !IsNewLineChar(*a_pData)) {
+                ++a_pData;
+            }
+
+            // remove trailing spaces from the value
+            pTrail = a_pData - 1;
+            if (*a_pData) { // prepare for the next round
+                SkipNewLine(a_pData);
+            }
+            while (pTrail >= a_pVal && IsSpace(*pTrail)) {
+                --pTrail;
+            }
+            ++pTrail;
+            *pTrail = 0;
+
+            // check for multi-line entries
+            if (m_bAllowMultiLine && IsMultiLineTag(a_pVal)) {
+                // skip the "<<<" to get the tag that will end the multiline
+                const SI_CHAR* pTagName = a_pVal + 3;
+                return LoadMultiLineText(a_pData, a_pVal, pTagName);
+            }
+
+            // check for quoted values, we are not supporting escapes in quoted values (yet)
+            if (m_bParseQuotes) {
+                --pTrail;
+                if (pTrail > a_pVal && *a_pVal == '"' && *pTrail == '"') {
+                    ++a_pVal;
+                    *pTrail = 0;
+                }
+            }
+        }
+        else {
+            // no value to process, just prepare for the next
+            if (*a_pData) { 
+                SkipNewLine(a_pData);
+            }
+            *pTrail = 0;
+        }
+
+        // return the standard entry
+        return true;
+    }
+
+    return false;
+}
+
+template
+bool
+CSimpleIniTempl::IsMultiLineTag(
+    const SI_CHAR * a_pVal
+    ) const
+{
+    // check for the "<<<" prefix for a multi-line entry
+    if (*a_pVal++ != '<') return false;
+    if (*a_pVal++ != '<') return false;
+    if (*a_pVal++ != '<') return false;
+    return true;
+}
+
+template
+bool
+CSimpleIniTempl::IsMultiLineData(
+    const SI_CHAR * a_pData
+    ) const
+{
+    // data is multi-line if it has any of the following features:
+    //  * whitespace prefix
+    //  * embedded newlines
+    //  * whitespace suffix
+
+    // empty string
+    if (!*a_pData) {
+        return false;
+    }
+
+    // check for prefix
+    if (IsSpace(*a_pData)) {
+        return true;
+    }
+
+    // embedded newlines
+    while (*a_pData) {
+        if (IsNewLineChar(*a_pData)) {
+            return true;
+        }
+        ++a_pData;
+    }
+
+    // check for suffix
+    if (IsSpace(*--a_pData)) {
+        return true;
+    }
+
+    return false;
+}
+
+template
+bool
+CSimpleIniTempl::IsSingleLineQuotedValue(
+    const SI_CHAR* a_pData
+) const
+{
+    // data needs quoting if it starts or ends with whitespace 
+    // and doesn't have embedded newlines
+
+    // empty string
+    if (!*a_pData) {
+        return false;
+    }
+
+    // check for prefix
+    if (IsSpace(*a_pData)) {
+        return true;
+    }
+
+    // embedded newlines
+    while (*a_pData) {
+        if (IsNewLineChar(*a_pData)) {
+            return false;
+        }
+        ++a_pData;
+    }
+
+    // check for suffix
+    if (IsSpace(*--a_pData)) {
+        return true;
+    }
+
+    return false;
+}
+
+template
+bool
+CSimpleIniTempl::IsNewLineChar(
+    SI_CHAR a_c
+    ) const
+{
+    return (a_c == '\n' || a_c == '\r');
+}
+
+template
+bool
+CSimpleIniTempl::LoadMultiLineText(
+    SI_CHAR *&          a_pData,
+    const SI_CHAR *&    a_pVal,
+    const SI_CHAR *     a_pTagName,
+    bool                a_bAllowBlankLinesInComment
+    ) const
+{
+    // we modify this data to strip all newlines down to a single '\n'
+    // character. This means that on Windows we need to strip out some
+    // characters which will make the data shorter.
+    // i.e.  LINE1-LINE1\r\nLINE2-LINE2\0 will become
+    //       LINE1-LINE1\nLINE2-LINE2\0
+    // The pDataLine entry is the pointer to the location in memory that
+    // the current line needs to start to run following the existing one.
+    // This may be the same as pCurrLine in which case no move is needed.
+    SI_CHAR * pDataLine = a_pData;
+    SI_CHAR * pCurrLine;
+
+    // value starts at the current line
+    a_pVal = a_pData;
+
+    // find the end tag. This tag must start in column 1 and be
+    // followed by a newline. We ignore any whitespace after the end
+    // tag but not whitespace before it.
+    SI_CHAR cEndOfLineChar = *a_pData;
+    for(;;) {
+        // if we are loading comments then we need a comment character as
+        // the first character on every line
+        if (!a_pTagName && !IsComment(*a_pData)) {
+            // if we aren't allowing blank lines then we're done
+            if (!a_bAllowBlankLinesInComment) {
+                break;
+            }
+
+            // if we are allowing blank lines then we only include them
+            // in this comment if another comment follows, so read ahead
+            // to find out.
+            SI_CHAR * pCurr = a_pData;
+            int nNewLines = 0;
+            while (IsSpace(*pCurr)) {
+                if (IsNewLineChar(*pCurr)) {
+                    ++nNewLines;
+                    SkipNewLine(pCurr);
+                }
+                else {
+                    ++pCurr;
+                }
+            }
+
+            // we have a comment, add the blank lines to the output
+            // and continue processing from here
+            if (IsComment(*pCurr)) {
+                for (; nNewLines > 0; --nNewLines) *pDataLine++ = '\n';
+                a_pData = pCurr;
+                continue;
+            }
+
+            // the comment ends here
+            break;
+        }
+
+        // find the end of this line
+        pCurrLine = a_pData;
+        while (*a_pData && !IsNewLineChar(*a_pData)) ++a_pData;
+
+        // move this line down to the location that it should be if necessary
+        if (pDataLine < pCurrLine) {
+            size_t nLen = (size_t) (a_pData - pCurrLine);
+            memmove(pDataLine, pCurrLine, nLen * sizeof(SI_CHAR));
+            pDataLine[nLen] = '\0';
+        }
+
+        // end the line with a NULL
+        cEndOfLineChar = *a_pData;
+        *a_pData = 0;
+
+        // if are looking for a tag then do the check now. This is done before
+        // checking for end of the data, so that if we have the tag at the end
+        // of the data then the tag is removed correctly.
+        if (a_pTagName) {
+            // strip whitespace from the end of this tag
+            SI_CHAR* pc = a_pData - 1;
+            while (pc > pDataLine && IsSpace(*pc)) --pc;
+            SI_CHAR ch = *++pc;
+            *pc = 0;
+
+            if (!IsLess(pDataLine, a_pTagName) && !IsLess(a_pTagName, pDataLine)) {
+                break;
+            }
+
+            *pc = ch;
+        }
+
+        // if we are at the end of the data then we just automatically end
+        // this entry and return the current data.
+        if (!cEndOfLineChar) {
+            return true;
+        }
+
+        // otherwise we need to process this newline to ensure that it consists
+        // of just a single \n character.
+        pDataLine += (a_pData - pCurrLine);
+        *a_pData = cEndOfLineChar;
+        SkipNewLine(a_pData);
+        *pDataLine++ = '\n';
+    }
+
+    // if we didn't find a comment at all then return false
+    if (a_pVal == a_pData) {
+        a_pVal = NULL;
+        return false;
+    }
+
+    // the data (which ends at the end of the last line) needs to be
+    // null-terminated BEFORE before the newline character(s). If the
+    // user wants a new line in the multi-line data then they need to
+    // add an empty line before the tag.
+    *--pDataLine = '\0';
+
+    // if looking for a tag and if we aren't at the end of the data,
+    // then move a_pData to the start of the next line.
+    if (a_pTagName && cEndOfLineChar) {
+        SI_ASSERT(IsNewLineChar(cEndOfLineChar));
+        *a_pData = cEndOfLineChar;
+        SkipNewLine(a_pData);
+    }
+
+    return true;
+}
+
+template
+SI_Error
+CSimpleIniTempl::CopyString(
+    const SI_CHAR *& a_pString
+    )
+{
+    size_t uLen = 0;
+    if (sizeof(SI_CHAR) == sizeof(char)) {
+        uLen = strlen((const char *)a_pString);
+    }
+    else if (sizeof(SI_CHAR) == sizeof(wchar_t)) {
+        uLen = wcslen((const wchar_t *)a_pString);
+    }
+    else {
+        for ( ; a_pString[uLen]; ++uLen) /*loop*/ ;
+    }
+    ++uLen; // NULL character
+    SI_CHAR * pCopy = new(std::nothrow) SI_CHAR[uLen];
+    if (!pCopy) {
+        return SI_NOMEM;
+    }
+    memcpy(pCopy, a_pString, sizeof(SI_CHAR)*uLen);
+    m_strings.push_back(pCopy);
+    a_pString = pCopy;
+    return SI_OK;
+}
+
+template
+SI_Error
+CSimpleIniTempl::AddEntry(
+    const SI_CHAR * a_pSection,
+    const SI_CHAR * a_pKey,
+    const SI_CHAR * a_pValue,
+    const SI_CHAR * a_pComment,
+    bool            a_bForceReplace,
+    bool            a_bCopyStrings
+    )
+{
+    SI_Error rc;
+    bool bInserted = false;
+
+    SI_ASSERT(!a_pComment || IsComment(*a_pComment));
+
+    // if we are copying strings then make a copy of the comment now
+    // because we will need it when we add the entry.
+    if (a_bCopyStrings && a_pComment) {
+        rc = CopyString(a_pComment);
+        if (rc < 0) return rc;
+    }
+
+    // create the section entry if necessary
+    typename TSection::iterator iSection = m_data.find(a_pSection);
+    if (iSection == m_data.end()) {
+        // if the section doesn't exist then we need a copy as the
+        // string needs to last beyond the end of this function
+        if (a_bCopyStrings) {
+            rc = CopyString(a_pSection);
+            if (rc < 0) return rc;
+        }
+
+        // only set the comment if this is a section only entry
+        Entry oSection(a_pSection, ++m_nOrder);
+        if (a_pComment && !a_pKey) {
+            oSection.pComment = a_pComment;
+        }
+
+        typename TSection::value_type oEntry(oSection, TKeyVal());
+        typedef typename TSection::iterator SectionIterator;
+        std::pair i = m_data.insert(oEntry);
+        iSection = i.first;
+        bInserted = true;
+    }
+    if (!a_pKey) {
+        // section only entries are specified with pItem as NULL
+        return bInserted ? SI_INSERTED : SI_UPDATED;
+    }
+
+    // check for existence of the key
+    TKeyVal & keyval = iSection->second;
+    typename TKeyVal::iterator iKey = keyval.find(a_pKey);
+    bInserted = iKey == keyval.end();
+
+    // remove all existing entries but save the load order and
+    // comment of the first entry
+    int nLoadOrder = ++m_nOrder;
+    if (iKey != keyval.end() && m_bAllowMultiKey && a_bForceReplace) {
+        const SI_CHAR * pComment = NULL;
+        while (iKey != keyval.end() && !IsLess(a_pKey, iKey->first.pItem)) {
+            if (iKey->first.nOrder < nLoadOrder) {
+                nLoadOrder = iKey->first.nOrder;
+                pComment   = iKey->first.pComment;
+            }
+            ++iKey;
+        }
+        if (pComment) {
+            DeleteString(a_pComment);
+            a_pComment = pComment;
+            CopyString(a_pComment);
+        }
+        Delete(a_pSection, a_pKey);
+        iKey = keyval.end();
+    }
+
+    // values need to be a valid string, even if they are an empty string
+    if (!a_pValue) {
+        a_pValue = &m_cEmptyString;
+    }
+
+    // make string copies if necessary
+    bool bForceCreateNewKey = m_bAllowMultiKey && !a_bForceReplace;
+    if (a_bCopyStrings) {
+        if (bForceCreateNewKey || iKey == keyval.end()) {
+            // if the key doesn't exist then we need a copy as the
+            // string needs to last beyond the end of this function
+            // because we will be inserting the key next
+            rc = CopyString(a_pKey);
+            if (rc < 0) return rc;
+        }
+
+        // we always need a copy of the value
+        rc = CopyString(a_pValue);
+        if (rc < 0) return rc;
+    }
+
+    // create the key entry
+    if (iKey == keyval.end() || bForceCreateNewKey) {
+        Entry oKey(a_pKey, nLoadOrder);
+        if (a_pComment) {
+            oKey.pComment = a_pComment;
+        }
+        typename TKeyVal::value_type oEntry(oKey, static_cast(NULL));
+        iKey = keyval.insert(oEntry);
+    }
+
+    iKey->second = a_pValue;
+    return bInserted ? SI_INSERTED : SI_UPDATED;
+}
+
+template
+const SI_CHAR *
+CSimpleIniTempl::GetValue(
+    const SI_CHAR * a_pSection,
+    const SI_CHAR * a_pKey,
+    const SI_CHAR * a_pDefault,
+    bool *          a_pHasMultiple
+    ) const
+{
+    if (a_pHasMultiple) {
+        *a_pHasMultiple = false;
+    }
+    if (!a_pSection || !a_pKey) {
+        return a_pDefault;
+    }
+    typename TSection::const_iterator iSection = m_data.find(a_pSection);
+    if (iSection == m_data.end()) {
+        return a_pDefault;
+    }
+    typename TKeyVal::const_iterator iKeyVal = iSection->second.find(a_pKey);
+    if (iKeyVal == iSection->second.end()) {
+        return a_pDefault;
+    }
+
+    // check for multiple entries with the same key
+    if (m_bAllowMultiKey && a_pHasMultiple) {
+        typename TKeyVal::const_iterator iTemp = iKeyVal;
+        if (++iTemp != iSection->second.end()) {
+            if (!IsLess(a_pKey, iTemp->first.pItem)) {
+                *a_pHasMultiple = true;
+            }
+        }
+    }
+
+    return iKeyVal->second;
+}
+
+template
+long
+CSimpleIniTempl::GetLongValue(
+    const SI_CHAR * a_pSection,
+    const SI_CHAR * a_pKey,
+    long            a_nDefault,
+    bool *          a_pHasMultiple
+    ) const
+{
+    // return the default if we don't have a value
+    const SI_CHAR * pszValue = GetValue(a_pSection, a_pKey, NULL, a_pHasMultiple);
+    if (!pszValue || !*pszValue) return a_nDefault;
+
+    // convert to UTF-8/MBCS which for a numeric value will be the same as ASCII
+    char szValue[64] = { 0 };
+    SI_CONVERTER c(m_bStoreIsUtf8);
+    if (!c.ConvertToStore(pszValue, szValue, sizeof(szValue))) {
+        return a_nDefault;
+    }
+
+    // handle the value as hex if prefaced with "0x"
+    long nValue = a_nDefault;
+    char * pszSuffix = szValue;
+    if (szValue[0] == '0' && (szValue[1] == 'x' || szValue[1] == 'X')) {
+        if (!szValue[2]) return a_nDefault;
+        nValue = strtol(&szValue[2], &pszSuffix, 16);
+    }
+    else {
+        nValue = strtol(szValue, &pszSuffix, 10);
+    }
+
+    // any invalid strings will return the default value
+    if (*pszSuffix) { 
+        return a_nDefault; 
+    }
+
+    return nValue;
+}
+
+template
+SI_Error 
+CSimpleIniTempl::SetLongValue(
+    const SI_CHAR * a_pSection,
+    const SI_CHAR * a_pKey,
+    long            a_nValue,
+    const SI_CHAR * a_pComment,
+    bool            a_bUseHex,
+    bool            a_bForceReplace
+    )
+{
+    // use SetValue to create sections
+    if (!a_pSection || !a_pKey) return SI_FAIL;
+
+    // convert to an ASCII string
+    char szInput[64];
+#if __STDC_WANT_SECURE_LIB__ && !_WIN32_WCE
+    sprintf_s(szInput, a_bUseHex ? "0x%lx" : "%ld", a_nValue);
+#else // !__STDC_WANT_SECURE_LIB__
+    snprintf(szInput, sizeof(szInput), a_bUseHex ? "0x%lx" : "%ld", a_nValue);
+#endif // __STDC_WANT_SECURE_LIB__
+
+    // convert to output text
+    SI_CHAR szOutput[64];
+    SI_CONVERTER c(m_bStoreIsUtf8);
+    c.ConvertFromStore(szInput, strlen(szInput) + 1, 
+        szOutput, sizeof(szOutput) / sizeof(SI_CHAR));
+
+    // actually add it
+    return AddEntry(a_pSection, a_pKey, szOutput, a_pComment, a_bForceReplace, true);
+}
+
+template
+double
+CSimpleIniTempl::GetDoubleValue(
+    const SI_CHAR * a_pSection,
+    const SI_CHAR * a_pKey,
+    double          a_nDefault,
+    bool *          a_pHasMultiple
+    ) const
+{
+    // return the default if we don't have a value
+    const SI_CHAR * pszValue = GetValue(a_pSection, a_pKey, NULL, a_pHasMultiple);
+    if (!pszValue || !*pszValue) return a_nDefault;
+
+    // convert to UTF-8/MBCS which for a numeric value will be the same as ASCII
+    char szValue[64] = { 0 };
+    SI_CONVERTER c(m_bStoreIsUtf8);
+    if (!c.ConvertToStore(pszValue, szValue, sizeof(szValue))) {
+        return a_nDefault;
+    }
+
+    char * pszSuffix = NULL;
+    double nValue = strtod(szValue, &pszSuffix);
+
+    // any invalid strings will return the default value
+    if (!pszSuffix || *pszSuffix) { 
+        return a_nDefault; 
+    }
+
+    return nValue;
+}
+
+template
+SI_Error 
+CSimpleIniTempl::SetDoubleValue(
+    const SI_CHAR * a_pSection,
+    const SI_CHAR * a_pKey,
+    double          a_nValue,
+    const SI_CHAR * a_pComment,
+    bool            a_bForceReplace
+    )
+{
+    // use SetValue to create sections
+    if (!a_pSection || !a_pKey) return SI_FAIL;
+
+    // convert to an ASCII string
+    char szInput[64];
+#if __STDC_WANT_SECURE_LIB__ && !_WIN32_WCE
+    sprintf_s(szInput, "%f", a_nValue);
+#else // !__STDC_WANT_SECURE_LIB__
+    snprintf(szInput, sizeof(szInput), "%f", a_nValue);
+#endif // __STDC_WANT_SECURE_LIB__
+
+    // convert to output text
+    SI_CHAR szOutput[64];
+    SI_CONVERTER c(m_bStoreIsUtf8);
+    c.ConvertFromStore(szInput, strlen(szInput) + 1, 
+        szOutput, sizeof(szOutput) / sizeof(SI_CHAR));
+
+    // actually add it
+    return AddEntry(a_pSection, a_pKey, szOutput, a_pComment, a_bForceReplace, true);
+}
+
+template
+bool
+CSimpleIniTempl::GetBoolValue(
+    const SI_CHAR * a_pSection,
+    const SI_CHAR * a_pKey,
+    bool            a_bDefault,
+    bool *          a_pHasMultiple
+    ) const
+{
+    // return the default if we don't have a value
+    const SI_CHAR * pszValue = GetValue(a_pSection, a_pKey, NULL, a_pHasMultiple);
+    if (!pszValue || !*pszValue) return a_bDefault;
+
+    // we only look at the minimum number of characters
+    switch (pszValue[0]) {
+    case 't': case 'T': // true
+    case 'y': case 'Y': // yes
+    case '1':           // 1 (one)
+        return true;
+
+    case 'f': case 'F': // false
+    case 'n': case 'N': // no
+    case '0':           // 0 (zero)
+        return false;
+
+    case 'o': case 'O':
+        if (pszValue[1] == 'n' || pszValue[1] == 'N') return true;  // on
+        if (pszValue[1] == 'f' || pszValue[1] == 'F') return false; // off
+        break;
+    }
+
+    // no recognized value, return the default
+    return a_bDefault;
+}
+
+template
+SI_Error 
+CSimpleIniTempl::SetBoolValue(
+    const SI_CHAR * a_pSection,
+    const SI_CHAR * a_pKey,
+    bool            a_bValue,
+    const SI_CHAR * a_pComment,
+    bool            a_bForceReplace
+    )
+{
+    // use SetValue to create sections
+    if (!a_pSection || !a_pKey) return SI_FAIL;
+
+    // convert to an ASCII string
+    const char * pszInput = a_bValue ? "true" : "false";
+
+    // convert to output text
+    SI_CHAR szOutput[64];
+    SI_CONVERTER c(m_bStoreIsUtf8);
+    c.ConvertFromStore(pszInput, strlen(pszInput) + 1, 
+        szOutput, sizeof(szOutput) / sizeof(SI_CHAR));
+
+    // actually add it
+    return AddEntry(a_pSection, a_pKey, szOutput, a_pComment, a_bForceReplace, true);
+}
+    
+template
+bool
+CSimpleIniTempl::GetAllValues(
+    const SI_CHAR * a_pSection,
+    const SI_CHAR * a_pKey,
+    TNamesDepend &  a_values
+    ) const
+{
+    a_values.clear();
+
+    if (!a_pSection || !a_pKey) {
+        return false;
+    }
+    typename TSection::const_iterator iSection = m_data.find(a_pSection);
+    if (iSection == m_data.end()) {
+        return false;
+    }
+    typename TKeyVal::const_iterator iKeyVal = iSection->second.find(a_pKey);
+    if (iKeyVal == iSection->second.end()) {
+        return false;
+    }
+
+    // insert all values for this key
+    a_values.push_back(Entry(iKeyVal->second, iKeyVal->first.pComment, iKeyVal->first.nOrder));
+    if (m_bAllowMultiKey) {
+        ++iKeyVal;
+        while (iKeyVal != iSection->second.end() && !IsLess(a_pKey, iKeyVal->first.pItem)) {
+            a_values.push_back(Entry(iKeyVal->second, iKeyVal->first.pComment, iKeyVal->first.nOrder));
+            ++iKeyVal;
+        }
+    }
+
+    return true;
+}
+
+template
+int
+CSimpleIniTempl::GetSectionSize(
+    const SI_CHAR * a_pSection
+    ) const
+{
+    if (!a_pSection) {
+        return -1;
+    }
+
+    typename TSection::const_iterator iSection = m_data.find(a_pSection);
+    if (iSection == m_data.end()) {
+        return -1;
+    }
+    const TKeyVal & section = iSection->second;
+
+    // if multi-key isn't permitted then the section size is
+    // the number of keys that we have.
+    if (!m_bAllowMultiKey || section.empty()) {
+        return (int) section.size();
+    }
+
+    // otherwise we need to count them
+    int nCount = 0;
+    const SI_CHAR * pLastKey = NULL;
+    typename TKeyVal::const_iterator iKeyVal = section.begin();
+    for (int n = 0; iKeyVal != section.end(); ++iKeyVal, ++n) {
+        if (!pLastKey || IsLess(pLastKey, iKeyVal->first.pItem)) {
+            ++nCount;
+            pLastKey = iKeyVal->first.pItem;
+        }
+    }
+    return nCount;
+}
+
+template
+const typename CSimpleIniTempl::TKeyVal *
+CSimpleIniTempl::GetSection(
+    const SI_CHAR * a_pSection
+    ) const
+{
+    if (a_pSection) {
+        typename TSection::const_iterator i = m_data.find(a_pSection);
+        if (i != m_data.end()) {
+            return &(i->second);
+        }
+    }
+    return 0;
+}
+
+template
+void
+CSimpleIniTempl::GetAllSections(
+    TNamesDepend & a_names
+    ) const
+{
+    a_names.clear();
+    typename TSection::const_iterator i = m_data.begin();
+    for (int n = 0; i != m_data.end(); ++i, ++n ) {
+        a_names.push_back(i->first);
+    }
+}
+
+template
+bool
+CSimpleIniTempl::GetAllKeys(
+    const SI_CHAR * a_pSection,
+    TNamesDepend &  a_names
+    ) const
+{
+    a_names.clear();
+
+    if (!a_pSection) {
+        return false;
+    }
+
+    typename TSection::const_iterator iSection = m_data.find(a_pSection);
+    if (iSection == m_data.end()) {
+        return false;
+    }
+
+    const TKeyVal & section = iSection->second;
+    const SI_CHAR * pLastKey = NULL;
+    typename TKeyVal::const_iterator iKeyVal = section.begin();
+    for (int n = 0; iKeyVal != section.end(); ++iKeyVal, ++n ) {
+        if (!pLastKey || IsLess(pLastKey, iKeyVal->first.pItem)) {
+            a_names.push_back(iKeyVal->first);
+            pLastKey = iKeyVal->first.pItem;
+        }
+    }
+
+    return true;
+}
+
+template
+SI_Error
+CSimpleIniTempl::SaveFile(
+    const char *    a_pszFile,
+    bool            a_bAddSignature
+    ) const
+{
+    FILE * fp = NULL;
+#if __STDC_WANT_SECURE_LIB__ && !_WIN32_WCE
+    fopen_s(&fp, a_pszFile, "wb");
+#else // !__STDC_WANT_SECURE_LIB__
+    fp = fopen(a_pszFile, "wb");
+#endif // __STDC_WANT_SECURE_LIB__
+    if (!fp) return SI_FILE;
+    SI_Error rc = SaveFile(fp, a_bAddSignature);
+    fclose(fp);
+    return rc;
+}
+
+#ifdef SI_HAS_WIDE_FILE
+template
+SI_Error
+CSimpleIniTempl::SaveFile(
+    const SI_WCHAR_T *  a_pwszFile,
+    bool                a_bAddSignature
+    ) const
+{
+#ifdef _WIN32
+    FILE * fp = NULL;
+#if __STDC_WANT_SECURE_LIB__ && !_WIN32_WCE
+    _wfopen_s(&fp, a_pwszFile, L"wb");
+#else // !__STDC_WANT_SECURE_LIB__
+    fp = _wfopen(a_pwszFile, L"wb");
+#endif // __STDC_WANT_SECURE_LIB__
+    if (!fp) return SI_FILE;
+    SI_Error rc = SaveFile(fp, a_bAddSignature);
+    fclose(fp);
+    return rc;
+#else // !_WIN32 (therefore SI_CONVERT_ICU)
+    char szFile[256];
+    u_austrncpy(szFile, a_pwszFile, sizeof(szFile));
+    return SaveFile(szFile, a_bAddSignature);
+#endif // _WIN32
+}
+#endif // SI_HAS_WIDE_FILE
+
+template
+SI_Error
+CSimpleIniTempl::SaveFile(
+    FILE *  a_pFile,
+    bool    a_bAddSignature
+    ) const
+{
+    FileWriter writer(a_pFile);
+    return Save(writer, a_bAddSignature);
+}
+
+template
+SI_Error
+CSimpleIniTempl::Save(
+    OutputWriter &  a_oOutput,
+    bool            a_bAddSignature
+    ) const
+{
+    Converter convert(m_bStoreIsUtf8);
+
+    // add the UTF-8 signature if it is desired
+    if (m_bStoreIsUtf8 && a_bAddSignature) {
+        a_oOutput.Write(SI_UTF8_SIGNATURE);
+    }
+
+    // get all of the sections sorted in load order
+    TNamesDepend oSections;
+    GetAllSections(oSections);
+#if defined(_MSC_VER) && _MSC_VER <= 1200
+    oSections.sort();
+#elif defined(__BORLANDC__)
+    oSections.sort(Entry::LoadOrder());
+#else
+    oSections.sort(typename Entry::LoadOrder());
+#endif
+
+    // if there is an empty section name, then it must be written out first
+    // regardless of the load order
+    typename TNamesDepend::iterator is = oSections.begin();
+    for (; is != oSections.end(); ++is) {
+        if (!*is->pItem) {
+            // move the empty section name to the front of the section list
+            if (is != oSections.begin()) {
+                oSections.splice(oSections.begin(), oSections, is, std::next(is));
+            }
+            break;
+        }
+    }
+
+    // write the file comment if we have one
+    bool bNeedNewLine = false;
+    if (m_pFileComment) {
+        if (!OutputMultiLineText(a_oOutput, convert, m_pFileComment)) {
+            return SI_FAIL;
+        }
+        bNeedNewLine = true;
+    }
+
+    // iterate through our sections and output the data
+    typename TNamesDepend::const_iterator iSection = oSections.begin();
+    for ( ; iSection != oSections.end(); ++iSection ) {
+        // write out the comment if there is one
+        if (iSection->pComment) {
+            if (bNeedNewLine) {
+                a_oOutput.Write(SI_NEWLINE_A);
+                a_oOutput.Write(SI_NEWLINE_A);
+            }
+            if (!OutputMultiLineText(a_oOutput, convert, iSection->pComment)) {
+                return SI_FAIL;
+            }
+            bNeedNewLine = false;
+        }
+
+        if (bNeedNewLine) {
+            a_oOutput.Write(SI_NEWLINE_A);
+            a_oOutput.Write(SI_NEWLINE_A);
+            bNeedNewLine = false;
+        }
+
+        // write the section (unless there is no section name)
+        if (*iSection->pItem) {
+            if (!convert.ConvertToStore(iSection->pItem)) {
+                return SI_FAIL;
+            }
+            a_oOutput.Write("[");
+            a_oOutput.Write(convert.Data());
+            a_oOutput.Write("]");
+            a_oOutput.Write(SI_NEWLINE_A);
+        }
+
+        // get all of the keys sorted in load order
+        TNamesDepend oKeys;
+        GetAllKeys(iSection->pItem, oKeys);
+#if defined(_MSC_VER) && _MSC_VER <= 1200
+        oKeys.sort();
+#elif defined(__BORLANDC__)
+        oKeys.sort(Entry::LoadOrder());
+#else
+        oKeys.sort(typename Entry::LoadOrder());
+#endif
+
+        // write all keys and values
+        typename TNamesDepend::const_iterator iKey = oKeys.begin();
+        for ( ; iKey != oKeys.end(); ++iKey) {
+            // get all values for this key
+            TNamesDepend oValues;
+            GetAllValues(iSection->pItem, iKey->pItem, oValues);
+
+            typename TNamesDepend::const_iterator iValue = oValues.begin();
+            for ( ; iValue != oValues.end(); ++iValue) {
+                // write out the comment if there is one
+                if (iValue->pComment) {
+                    a_oOutput.Write(SI_NEWLINE_A);
+                    if (!OutputMultiLineText(a_oOutput, convert, iValue->pComment)) {
+                        return SI_FAIL;
+                    }
+                }
+
+                // write the key
+                if (!convert.ConvertToStore(iKey->pItem)) {
+                    return SI_FAIL;
+                }
+                a_oOutput.Write(convert.Data());
+
+                // write the value as long 
+                if (*iValue->pItem || !m_bAllowKeyOnly) {
+                    if (!convert.ConvertToStore(iValue->pItem)) {
+                        return SI_FAIL;
+                    }
+                    a_oOutput.Write(m_bSpaces ? " = " : "=");
+                    if (m_bParseQuotes && IsSingleLineQuotedValue(iValue->pItem)) {
+                        // the only way to preserve external whitespace on a value (i.e. before or after)
+                        // is to quote it. This is simple quoting, we don't escape quotes within the data. 
+                        a_oOutput.Write("\"");
+                        a_oOutput.Write(convert.Data());
+                        a_oOutput.Write("\"");
+                    }
+                    else if (m_bAllowMultiLine && IsMultiLineData(iValue->pItem)) {
+                        // multi-line data needs to be processed specially to ensure
+                        // that we use the correct newline format for the current system
+                        a_oOutput.Write("<<pItem)) {
+                            return SI_FAIL;
+                        }
+                        a_oOutput.Write("END_OF_TEXT");
+                    }
+                    else {
+                        a_oOutput.Write(convert.Data());
+                    }
+                }
+                a_oOutput.Write(SI_NEWLINE_A);
+            }
+        }
+
+        bNeedNewLine = true;
+    }
+
+    return SI_OK;
+}
+
+template
+bool
+CSimpleIniTempl::OutputMultiLineText(
+    OutputWriter &  a_oOutput,
+    Converter &     a_oConverter,
+    const SI_CHAR * a_pText
+    ) const
+{
+    const SI_CHAR * pEndOfLine;
+    SI_CHAR cEndOfLineChar = *a_pText;
+    while (cEndOfLineChar) {
+        // find the end of this line
+        pEndOfLine = a_pText;
+        for (; *pEndOfLine && *pEndOfLine != '\n'; ++pEndOfLine) /*loop*/ ;
+        cEndOfLineChar = *pEndOfLine;
+
+        // temporarily null terminate, convert and output the line
+        *const_cast(pEndOfLine) = 0;
+        if (!a_oConverter.ConvertToStore(a_pText)) {
+            return false;
+        }
+        *const_cast(pEndOfLine) = cEndOfLineChar;
+        a_pText += (pEndOfLine - a_pText) + 1;
+        a_oOutput.Write(a_oConverter.Data());
+        a_oOutput.Write(SI_NEWLINE_A);
+    }
+    return true;
+}
+
+template
+bool
+CSimpleIniTempl::Delete(
+    const SI_CHAR * a_pSection,
+    const SI_CHAR * a_pKey,
+    bool            a_bRemoveEmpty
+    )
+{
+    return DeleteValue(a_pSection, a_pKey, NULL, a_bRemoveEmpty);
+}
+
+template
+bool
+CSimpleIniTempl::DeleteValue(
+    const SI_CHAR * a_pSection,
+    const SI_CHAR * a_pKey,
+    const SI_CHAR * a_pValue,
+    bool            a_bRemoveEmpty
+    )
+{
+    if (!a_pSection) {
+        return false;
+    }
+
+    typename TSection::iterator iSection = m_data.find(a_pSection);
+    if (iSection == m_data.end()) {
+        return false;
+    }
+
+    // remove a single key if we have a keyname
+    if (a_pKey) {
+        typename TKeyVal::iterator iKeyVal = iSection->second.find(a_pKey);
+        if (iKeyVal == iSection->second.end()) {
+            return false;
+        }
+
+        const static SI_STRLESS isLess = SI_STRLESS();
+
+        // remove any copied strings and then the key
+        typename TKeyVal::iterator iDelete;
+        bool bDeleted = false;
+        do {
+            iDelete = iKeyVal++;
+
+            if(a_pValue == NULL ||
+            (isLess(a_pValue, iDelete->second) == false &&
+            isLess(iDelete->second, a_pValue) == false)) {
+                DeleteString(iDelete->first.pItem);
+                DeleteString(iDelete->second);
+                iSection->second.erase(iDelete);
+                bDeleted = true;
+            }
+        }
+        while (iKeyVal != iSection->second.end()
+            && !IsLess(a_pKey, iKeyVal->first.pItem));
+
+        if(!bDeleted) {
+            return false;
+        }
+
+        // done now if the section is not empty or we are not pruning away
+        // the empty sections. Otherwise let it fall through into the section
+        // deletion code
+        if (!a_bRemoveEmpty || !iSection->second.empty()) {
+            return true;
+        }
+    }
+    else {
+        // delete all copied strings from this section. The actual
+        // entries will be removed when the section is removed.
+        typename TKeyVal::iterator iKeyVal = iSection->second.begin();
+        for ( ; iKeyVal != iSection->second.end(); ++iKeyVal) {
+            DeleteString(iKeyVal->first.pItem);
+            DeleteString(iKeyVal->second);
+        }
+    }
+
+    // delete the section itself
+    DeleteString(iSection->first.pItem);
+    m_data.erase(iSection);
+
+    return true;
+}
+
+template
+void
+CSimpleIniTempl::DeleteString(
+    const SI_CHAR * a_pString
+    )
+{
+    // strings may exist either inside the data block, or they will be
+    // individually allocated and stored in m_strings. We only physically
+    // delete those stored in m_strings.
+    if (a_pString < m_pData || a_pString >= m_pData + m_uDataLen) {
+        typename TNamesDepend::iterator i = m_strings.begin();
+        for (;i != m_strings.end(); ++i) {
+            if (a_pString == i->pItem) {
+                delete[] const_cast(i->pItem);
+                m_strings.erase(i);
+                break;
+            }
+        }
+    }
+}
+
+// ---------------------------------------------------------------------------
+//                              CONVERSION FUNCTIONS
+// ---------------------------------------------------------------------------
+
+// Defines the conversion classes for different libraries. Before including
+// SimpleIni.h, set the converter that you wish you use by defining one of the
+// following symbols.
+//
+//  SI_NO_CONVERSION        Do not make the "W" wide character version of the 
+//                          library available. Only CSimpleIniA etc is defined.
+//  SI_CONVERT_GENERIC      Use the Unicode reference conversion library in
+//                          the accompanying files ConvertUTF.h/c
+//  SI_CONVERT_ICU          Use the IBM ICU conversion library. Requires
+//                          ICU headers on include path and icuuc.lib
+//  SI_CONVERT_WIN32        Use the Win32 API functions for conversion.
+
+#if !defined(SI_NO_CONVERSION) && !defined(SI_CONVERT_GENERIC) && !defined(SI_CONVERT_WIN32) && !defined(SI_CONVERT_ICU)
+# ifdef _WIN32
+#  define SI_CONVERT_WIN32
+# else
+#  define SI_CONVERT_GENERIC
+# endif
+#endif
+
+/**
+ * Generic case-sensitive less than comparison. This class returns numerically
+ * ordered ASCII case-sensitive text for all possible sizes and types of
+ * SI_CHAR.
+ */
+template
+struct SI_GenericCase {
+    bool operator()(const SI_CHAR * pLeft, const SI_CHAR * pRight) const {
+        long cmp;
+        for ( ;*pLeft && *pRight; ++pLeft, ++pRight) {
+            cmp = (long) *pLeft - (long) *pRight;
+            if (cmp != 0) {
+                return cmp < 0;
+            }
+        }
+        return *pRight != 0;
+    }
+};
+
+/**
+ * Generic ASCII case-insensitive less than comparison. This class returns
+ * numerically ordered ASCII case-insensitive text for all possible sizes
+ * and types of SI_CHAR. It is not safe for MBCS text comparison where
+ * ASCII A-Z characters are used in the encoding of multi-byte characters.
+ */
+template
+struct SI_GenericNoCase {
+    inline SI_CHAR locase(SI_CHAR ch) const {
+        return (ch < 'A' || ch > 'Z') ? ch : (ch - 'A' + 'a');
+    }
+    bool operator()(const SI_CHAR * pLeft, const SI_CHAR * pRight) const {
+        long cmp;
+        for ( ;*pLeft && *pRight; ++pLeft, ++pRight) {
+            cmp = (long) locase(*pLeft) - (long) locase(*pRight);
+            if (cmp != 0) {
+                return cmp < 0;
+            }
+        }
+        return *pRight != 0;
+    }
+};
+
+/**
+ * Null conversion class for MBCS/UTF-8 to char (or equivalent).
+ */
+template
+class SI_ConvertA {
+    bool m_bStoreIsUtf8;
+protected:
+    SI_ConvertA() { }
+public:
+    SI_ConvertA(bool a_bStoreIsUtf8) : m_bStoreIsUtf8(a_bStoreIsUtf8) { }
+
+    /* copy and assignment */
+    SI_ConvertA(const SI_ConvertA & rhs) { operator=(rhs); }
+    SI_ConvertA & operator=(const SI_ConvertA & rhs) {
+        m_bStoreIsUtf8 = rhs.m_bStoreIsUtf8;
+        return *this;
+    }
+
+    /** Calculate the number of SI_CHAR required for converting the input
+     * from the storage format. The storage format is always UTF-8 or MBCS.
+     *
+     * @param a_pInputData  Data in storage format to be converted to SI_CHAR.
+     * @param a_uInputDataLen Length of storage format data in bytes. This
+     *                      must be the actual length of the data, including
+     *                      NULL byte if NULL terminated string is required.
+     * @return              Number of SI_CHAR required by the string when
+     *                      converted. If there are embedded NULL bytes in the
+     *                      input data, only the string up and not including
+     *                      the NULL byte will be converted.
+     * @return              -1 cast to size_t on a conversion error.
+     */
+    size_t SizeFromStore(
+        const char *    a_pInputData,
+        size_t          a_uInputDataLen)
+    {
+        (void)a_pInputData;
+        SI_ASSERT(a_uInputDataLen != (size_t) -1);
+
+        // ASCII/MBCS/UTF-8 needs no conversion
+        return a_uInputDataLen;
+    }
+
+    /** Convert the input string from the storage format to SI_CHAR.
+     * The storage format is always UTF-8 or MBCS.
+     *
+     * @param a_pInputData  Data in storage format to be converted to SI_CHAR.
+     * @param a_uInputDataLen Length of storage format data in bytes. This
+     *                      must be the actual length of the data, including
+     *                      NULL byte if NULL terminated string is required.
+     * @param a_pOutputData Pointer to the output buffer to received the
+     *                      converted data.
+     * @param a_uOutputDataSize Size of the output buffer in SI_CHAR.
+     * @return              true if all of the input data was successfully
+     *                      converted.
+     */
+    bool ConvertFromStore(
+        const char *    a_pInputData,
+        size_t          a_uInputDataLen,
+        SI_CHAR *       a_pOutputData,
+        size_t          a_uOutputDataSize)
+    {
+        // ASCII/MBCS/UTF-8 needs no conversion
+        if (a_uInputDataLen > a_uOutputDataSize) {
+            return false;
+        }
+        memcpy(a_pOutputData, a_pInputData, a_uInputDataLen);
+        return true;
+    }
+
+    /** Calculate the number of char required by the storage format of this
+     * data. The storage format is always UTF-8 or MBCS.
+     *
+     * @param a_pInputData  NULL terminated string to calculate the number of
+     *                      bytes required to be converted to storage format.
+     * @return              Number of bytes required by the string when
+     *                      converted to storage format. This size always
+     *                      includes space for the terminating NULL character.
+     * @return              -1 cast to size_t on a conversion error.
+     */
+    size_t SizeToStore(
+        const SI_CHAR * a_pInputData)
+    {
+        // ASCII/MBCS/UTF-8 needs no conversion
+        return strlen((const char *)a_pInputData) + 1;
+    }
+
+    /** Convert the input string to the storage format of this data.
+     * The storage format is always UTF-8 or MBCS.
+     *
+     * @param a_pInputData  NULL terminated source string to convert. All of
+     *                      the data will be converted including the
+     *                      terminating NULL character.
+     * @param a_pOutputData Pointer to the buffer to receive the converted
+     *                      string.
+     * @param a_uOutputDataSize Size of the output buffer in char.
+     * @return              true if all of the input data, including the
+     *                      terminating NULL character was successfully
+     *                      converted.
+     */
+    bool ConvertToStore(
+        const SI_CHAR * a_pInputData,
+        char *          a_pOutputData,
+        size_t          a_uOutputDataSize)
+    {
+        // calc input string length (SI_CHAR type and size independent)
+        size_t uInputLen = strlen((const char *)a_pInputData) + 1;
+        if (uInputLen > a_uOutputDataSize) {
+            return false;
+        }
+
+        // ascii/UTF-8 needs no conversion
+        memcpy(a_pOutputData, a_pInputData, uInputLen);
+        return true;
+    }
+};
+
+
+// ---------------------------------------------------------------------------
+//                              SI_CONVERT_GENERIC
+// ---------------------------------------------------------------------------
+#ifdef SI_CONVERT_GENERIC
+
+#define SI_Case     SI_GenericCase
+#define SI_NoCase   SI_GenericNoCase
+
+#include 
+#include "ConvertUTF.h"
+
+/**
+ * Converts UTF-8 to a wchar_t (or equivalent) using the Unicode reference
+ * library functions. This can be used on all platforms.
+ */
+template
+class SI_ConvertW {
+    bool m_bStoreIsUtf8;
+protected:
+    SI_ConvertW() { }
+public:
+    SI_ConvertW(bool a_bStoreIsUtf8) : m_bStoreIsUtf8(a_bStoreIsUtf8) { }
+
+    /* copy and assignment */
+    SI_ConvertW(const SI_ConvertW & rhs) { operator=(rhs); }
+    SI_ConvertW & operator=(const SI_ConvertW & rhs) {
+        m_bStoreIsUtf8 = rhs.m_bStoreIsUtf8;
+        return *this;
+    }
+
+    /** Calculate the number of SI_CHAR required for converting the input
+     * from the storage format. The storage format is always UTF-8 or MBCS.
+     *
+     * @param a_pInputData  Data in storage format to be converted to SI_CHAR.
+     * @param a_uInputDataLen Length of storage format data in bytes. This
+     *                      must be the actual length of the data, including
+     *                      NULL byte if NULL terminated string is required.
+     * @return              Number of SI_CHAR required by the string when
+     *                      converted. If there are embedded NULL bytes in the
+     *                      input data, only the string up and not including
+     *                      the NULL byte will be converted.
+     * @return              -1 cast to size_t on a conversion error.
+     */
+    size_t SizeFromStore(
+        const char *    a_pInputData,
+        size_t          a_uInputDataLen)
+    {
+        SI_ASSERT(a_uInputDataLen != (size_t) -1);
+
+        if (m_bStoreIsUtf8) {
+            // worst case scenario for UTF-8 to wchar_t is 1 char -> 1 wchar_t
+            // so we just return the same number of characters required as for
+            // the source text.
+            return a_uInputDataLen;
+        }
+
+#if defined(SI_NO_MBSTOWCS_NULL) || (!defined(_MSC_VER) && !defined(_linux))
+        // fall back processing for platforms that don't support a NULL dest to mbstowcs
+        // worst case scenario is 1:1, this will be a sufficient buffer size
+        (void)a_pInputData;
+        return a_uInputDataLen;
+#else
+        // get the actual required buffer size
+        return mbstowcs(NULL, a_pInputData, a_uInputDataLen);
+#endif
+    }
+
+    /** Convert the input string from the storage format to SI_CHAR.
+     * The storage format is always UTF-8 or MBCS.
+     *
+     * @param a_pInputData  Data in storage format to be converted to SI_CHAR.
+     * @param a_uInputDataLen Length of storage format data in bytes. This
+     *                       must be the actual length of the data, including
+     *                       NULL byte if NULL terminated string is required.
+     * @param a_pOutputData Pointer to the output buffer to received the
+     *                       converted data.
+     * @param a_uOutputDataSize Size of the output buffer in SI_CHAR.
+     * @return              true if all of the input data was successfully
+     *                       converted.
+     */
+    bool ConvertFromStore(
+        const char *    a_pInputData,
+        size_t          a_uInputDataLen,
+        SI_CHAR *       a_pOutputData,
+        size_t          a_uOutputDataSize)
+    {
+        if (m_bStoreIsUtf8) {
+            // This uses the Unicode reference implementation to do the
+            // conversion from UTF-8 to wchar_t. The required files are
+            // ConvertUTF.h and ConvertUTF.c which should be included in
+            // the distribution but are publically available from unicode.org
+            // at http://www.unicode.org/Public/PROGRAMS/CVTUTF/
+            ConversionResult retval;
+            const UTF8 * pUtf8 = (const UTF8 *) a_pInputData;
+            if (sizeof(wchar_t) == sizeof(UTF32)) {
+                UTF32 * pUtf32 = (UTF32 *) a_pOutputData;
+                retval = ConvertUTF8toUTF32(
+                    &pUtf8, pUtf8 + a_uInputDataLen,
+                    &pUtf32, pUtf32 + a_uOutputDataSize,
+                    lenientConversion);
+            }
+            else if (sizeof(wchar_t) == sizeof(UTF16)) {
+                UTF16 * pUtf16 = (UTF16 *) a_pOutputData;
+                retval = ConvertUTF8toUTF16(
+                    &pUtf8, pUtf8 + a_uInputDataLen,
+                    &pUtf16, pUtf16 + a_uOutputDataSize,
+                    lenientConversion);
+            }
+            return retval == conversionOK;
+        }
+
+        // convert to wchar_t
+        size_t retval = mbstowcs(a_pOutputData,
+            a_pInputData, a_uOutputDataSize);
+        return retval != (size_t)(-1);
+    }
+
+    /** Calculate the number of char required by the storage format of this
+     * data. The storage format is always UTF-8 or MBCS.
+     *
+     * @param a_pInputData  NULL terminated string to calculate the number of
+     *                       bytes required to be converted to storage format.
+     * @return              Number of bytes required by the string when
+     *                       converted to storage format. This size always
+     *                       includes space for the terminating NULL character.
+     * @return              -1 cast to size_t on a conversion error.
+     */
+    size_t SizeToStore(
+        const SI_CHAR * a_pInputData)
+    {
+        if (m_bStoreIsUtf8) {
+            // worst case scenario for wchar_t to UTF-8 is 1 wchar_t -> 6 char
+            size_t uLen = 0;
+            while (a_pInputData[uLen]) {
+                ++uLen;
+            }
+            return (6 * uLen) + 1;
+        }
+        else {
+            size_t uLen = wcstombs(NULL, a_pInputData, 0);
+            if (uLen == (size_t)(-1)) {
+                return uLen;
+            }
+            return uLen + 1; // include NULL terminator
+        }
+    }
+
+    /** Convert the input string to the storage format of this data.
+     * The storage format is always UTF-8 or MBCS.
+     *
+     * @param a_pInputData  NULL terminated source string to convert. All of
+     *                       the data will be converted including the
+     *                       terminating NULL character.
+     * @param a_pOutputData Pointer to the buffer to receive the converted
+     *                       string.
+     * @param a_uOutputDataSize Size of the output buffer in char.
+     * @return              true if all of the input data, including the
+     *                       terminating NULL character was successfully
+     *                       converted.
+     */
+    bool ConvertToStore(
+        const SI_CHAR * a_pInputData,
+        char *          a_pOutputData,
+        size_t          a_uOutputDataSize
+        )
+    {
+        if (m_bStoreIsUtf8) {
+            // calc input string length (SI_CHAR type and size independent)
+            size_t uInputLen = 0;
+            while (a_pInputData[uInputLen]) {
+                ++uInputLen;
+            }
+            ++uInputLen; // include the NULL char
+
+            // This uses the Unicode reference implementation to do the
+            // conversion from wchar_t to UTF-8. The required files are
+            // ConvertUTF.h and ConvertUTF.c which should be included in
+            // the distribution but are publically available from unicode.org
+            // at http://www.unicode.org/Public/PROGRAMS/CVTUTF/
+            ConversionResult retval;
+            UTF8 * pUtf8 = (UTF8 *) a_pOutputData;
+            if (sizeof(wchar_t) == sizeof(UTF32)) {
+                const UTF32 * pUtf32 = (const UTF32 *) a_pInputData;
+                retval = ConvertUTF32toUTF8(
+                    &pUtf32, pUtf32 + uInputLen,
+                    &pUtf8, pUtf8 + a_uOutputDataSize,
+                    lenientConversion);
+            }
+            else if (sizeof(wchar_t) == sizeof(UTF16)) {
+                const UTF16 * pUtf16 = (const UTF16 *) a_pInputData;
+                retval = ConvertUTF16toUTF8(
+                    &pUtf16, pUtf16 + uInputLen,
+                    &pUtf8, pUtf8 + a_uOutputDataSize,
+                    lenientConversion);
+            }
+            return retval == conversionOK;
+        }
+        else {
+            size_t retval = wcstombs(a_pOutputData,
+                a_pInputData, a_uOutputDataSize);
+            return retval != (size_t) -1;
+        }
+    }
+};
+
+#endif // SI_CONVERT_GENERIC
+
+
+// ---------------------------------------------------------------------------
+//                              SI_CONVERT_ICU
+// ---------------------------------------------------------------------------
+#ifdef SI_CONVERT_ICU
+
+#define SI_Case     SI_GenericCase
+#define SI_NoCase   SI_GenericNoCase
+
+#include 
+
+/**
+ * Converts MBCS/UTF-8 to UChar using ICU. This can be used on all platforms.
+ */
+template
+class SI_ConvertW {
+    const char * m_pEncoding;
+    UConverter * m_pConverter;
+protected:
+    SI_ConvertW() : m_pEncoding(NULL), m_pConverter(NULL) { }
+public:
+    SI_ConvertW(bool a_bStoreIsUtf8) : m_pConverter(NULL) {
+        m_pEncoding = a_bStoreIsUtf8 ? "UTF-8" : NULL;
+    }
+
+    /* copy and assignment */
+    SI_ConvertW(const SI_ConvertW & rhs) { operator=(rhs); }
+    SI_ConvertW & operator=(const SI_ConvertW & rhs) {
+        m_pEncoding = rhs.m_pEncoding;
+        m_pConverter = NULL;
+        return *this;
+    }
+    ~SI_ConvertW() { if (m_pConverter) ucnv_close(m_pConverter); }
+
+    /** Calculate the number of UChar required for converting the input
+     * from the storage format. The storage format is always UTF-8 or MBCS.
+     *
+     * @param a_pInputData  Data in storage format to be converted to UChar.
+     * @param a_uInputDataLen Length of storage format data in bytes. This
+     *                      must be the actual length of the data, including
+     *                      NULL byte if NULL terminated string is required.
+     * @return              Number of UChar required by the string when
+     *                      converted. If there are embedded NULL bytes in the
+     *                      input data, only the string up and not including
+     *                      the NULL byte will be converted.
+     * @return              -1 cast to size_t on a conversion error.
+     */
+    size_t SizeFromStore(
+        const char *    a_pInputData,
+        size_t          a_uInputDataLen)
+    {
+        SI_ASSERT(a_uInputDataLen != (size_t) -1);
+
+        UErrorCode nError;
+
+        if (!m_pConverter) {
+            nError = U_ZERO_ERROR;
+            m_pConverter = ucnv_open(m_pEncoding, &nError);
+            if (U_FAILURE(nError)) {
+                return (size_t) -1;
+            }
+        }
+
+        nError = U_ZERO_ERROR;
+        int32_t nLen = ucnv_toUChars(m_pConverter, NULL, 0,
+            a_pInputData, (int32_t) a_uInputDataLen, &nError);
+        if (U_FAILURE(nError) && nError != U_BUFFER_OVERFLOW_ERROR) {
+            return (size_t) -1;
+        }
+
+        return (size_t) nLen;
+    }
+
+    /** Convert the input string from the storage format to UChar.
+     * The storage format is always UTF-8 or MBCS.
+     *
+     * @param a_pInputData  Data in storage format to be converted to UChar.
+     * @param a_uInputDataLen Length of storage format data in bytes. This
+     *                      must be the actual length of the data, including
+     *                      NULL byte if NULL terminated string is required.
+     * @param a_pOutputData Pointer to the output buffer to received the
+     *                      converted data.
+     * @param a_uOutputDataSize Size of the output buffer in UChar.
+     * @return              true if all of the input data was successfully
+     *                      converted.
+     */
+    bool ConvertFromStore(
+        const char *    a_pInputData,
+        size_t          a_uInputDataLen,
+        UChar *         a_pOutputData,
+        size_t          a_uOutputDataSize)
+    {
+        UErrorCode nError;
+
+        if (!m_pConverter) {
+            nError = U_ZERO_ERROR;
+            m_pConverter = ucnv_open(m_pEncoding, &nError);
+            if (U_FAILURE(nError)) {
+                return false;
+            }
+        }
+
+        nError = U_ZERO_ERROR;
+        ucnv_toUChars(m_pConverter,
+            a_pOutputData, (int32_t) a_uOutputDataSize,
+            a_pInputData, (int32_t) a_uInputDataLen, &nError);
+        if (U_FAILURE(nError)) {
+            return false;
+        }
+
+        return true;
+    }
+
+    /** Calculate the number of char required by the storage format of this
+     * data. The storage format is always UTF-8 or MBCS.
+     *
+     * @param a_pInputData  NULL terminated string to calculate the number of
+     *                      bytes required to be converted to storage format.
+     * @return              Number of bytes required by the string when
+     *                      converted to storage format. This size always
+     *                      includes space for the terminating NULL character.
+     * @return              -1 cast to size_t on a conversion error.
+     */
+    size_t SizeToStore(
+        const UChar * a_pInputData)
+    {
+        UErrorCode nError;
+
+        if (!m_pConverter) {
+            nError = U_ZERO_ERROR;
+            m_pConverter = ucnv_open(m_pEncoding, &nError);
+            if (U_FAILURE(nError)) {
+                return (size_t) -1;
+            }
+        }
+
+        nError = U_ZERO_ERROR;
+        int32_t nLen = ucnv_fromUChars(m_pConverter, NULL, 0,
+            a_pInputData, -1, &nError);
+        if (U_FAILURE(nError) && nError != U_BUFFER_OVERFLOW_ERROR) {
+            return (size_t) -1;
+        }
+
+        return (size_t) nLen + 1;
+    }
+
+    /** Convert the input string to the storage format of this data.
+     * The storage format is always UTF-8 or MBCS.
+     *
+     * @param a_pInputData  NULL terminated source string to convert. All of
+     *                      the data will be converted including the
+     *                      terminating NULL character.
+     * @param a_pOutputData Pointer to the buffer to receive the converted
+     *                      string.
+     * @param a_pOutputDataSize Size of the output buffer in char.
+     * @return              true if all of the input data, including the
+     *                      terminating NULL character was successfully
+     *                      converted.
+     */
+    bool ConvertToStore(
+        const UChar *   a_pInputData,
+        char *          a_pOutputData,
+        size_t          a_uOutputDataSize)
+    {
+        UErrorCode nError;
+
+        if (!m_pConverter) {
+            nError = U_ZERO_ERROR;
+            m_pConverter = ucnv_open(m_pEncoding, &nError);
+            if (U_FAILURE(nError)) {
+                return false;
+            }
+        }
+
+        nError = U_ZERO_ERROR;
+        ucnv_fromUChars(m_pConverter,
+            a_pOutputData, (int32_t) a_uOutputDataSize,
+            a_pInputData, -1, &nError);
+        if (U_FAILURE(nError)) {
+            return false;
+        }
+
+        return true;
+    }
+};
+
+#endif // SI_CONVERT_ICU
+
+
+// ---------------------------------------------------------------------------
+//                              SI_CONVERT_WIN32
+// ---------------------------------------------------------------------------
+#ifdef SI_CONVERT_WIN32
+
+#define SI_Case     SI_GenericCase
+
+// Windows CE doesn't have errno or MBCS libraries
+#ifdef _WIN32_WCE
+# ifndef SI_NO_MBCS
+#  define SI_NO_MBCS
+# endif
+#endif
+
+#include 
+#ifdef SI_NO_MBCS
+# define SI_NoCase   SI_GenericNoCase
+#else // !SI_NO_MBCS
+/**
+ * Case-insensitive comparison class using Win32 MBCS functions. This class
+ * returns a case-insensitive semi-collation order for MBCS text. It may not
+ * be safe for UTF-8 text returned in char format as we don't know what
+ * characters will be folded by the function! Therefore, if you are using
+ * SI_CHAR == char and SetUnicode(true), then you need to use the generic
+ * SI_NoCase class instead.
+ */
+#include 
+template
+struct SI_NoCase {
+    bool operator()(const SI_CHAR * pLeft, const SI_CHAR * pRight) const {
+        if (sizeof(SI_CHAR) == sizeof(char)) {
+            return _mbsicmp((const unsigned char *)pLeft,
+                (const unsigned char *)pRight) < 0;
+        }
+        if (sizeof(SI_CHAR) == sizeof(wchar_t)) {
+            return _wcsicmp((const wchar_t *)pLeft,
+                (const wchar_t *)pRight) < 0;
+        }
+        return SI_GenericNoCase()(pLeft, pRight);
+    }
+};
+#endif // SI_NO_MBCS
+
+/**
+ * Converts MBCS and UTF-8 to a wchar_t (or equivalent) on Windows. This uses
+ * only the Win32 functions and doesn't require the external Unicode UTF-8
+ * conversion library. It will not work on Windows 95 without using Microsoft
+ * Layer for Unicode in your application.
+ */
+template
+class SI_ConvertW {
+    UINT m_uCodePage;
+protected:
+    SI_ConvertW() { }
+public:
+    SI_ConvertW(bool a_bStoreIsUtf8) {
+        m_uCodePage = a_bStoreIsUtf8 ? CP_UTF8 : CP_ACP;
+    }
+
+    /* copy and assignment */
+    SI_ConvertW(const SI_ConvertW & rhs) { operator=(rhs); }
+    SI_ConvertW & operator=(const SI_ConvertW & rhs) {
+        m_uCodePage = rhs.m_uCodePage;
+        return *this;
+    }
+
+    /** Calculate the number of SI_CHAR required for converting the input
+     * from the storage format. The storage format is always UTF-8 or MBCS.
+     *
+     * @param a_pInputData  Data in storage format to be converted to SI_CHAR.
+     * @param a_uInputDataLen Length of storage format data in bytes. This
+     *                      must be the actual length of the data, including
+     *                      NULL byte if NULL terminated string is required.
+     * @return              Number of SI_CHAR required by the string when
+     *                      converted. If there are embedded NULL bytes in the
+     *                      input data, only the string up and not including
+     *                      the NULL byte will be converted.
+     * @return              -1 cast to size_t on a conversion error.
+     */
+    size_t SizeFromStore(
+        const char *    a_pInputData,
+        size_t          a_uInputDataLen)
+    {
+        SI_ASSERT(a_uInputDataLen != (size_t) -1);
+
+        int retval = MultiByteToWideChar(
+            m_uCodePage, 0,
+            a_pInputData, (int) a_uInputDataLen,
+            0, 0);
+        return (size_t)(retval > 0 ? retval : -1);
+    }
+
+    /** Convert the input string from the storage format to SI_CHAR.
+     * The storage format is always UTF-8 or MBCS.
+     *
+     * @param a_pInputData  Data in storage format to be converted to SI_CHAR.
+     * @param a_uInputDataLen Length of storage format data in bytes. This
+     *                      must be the actual length of the data, including
+     *                      NULL byte if NULL terminated string is required.
+     * @param a_pOutputData Pointer to the output buffer to received the
+     *                      converted data.
+     * @param a_uOutputDataSize Size of the output buffer in SI_CHAR.
+     * @return              true if all of the input data was successfully
+     *                      converted.
+     */
+    bool ConvertFromStore(
+        const char *    a_pInputData,
+        size_t          a_uInputDataLen,
+        SI_CHAR *       a_pOutputData,
+        size_t          a_uOutputDataSize)
+    {
+        int nSize = MultiByteToWideChar(
+            m_uCodePage, 0,
+            a_pInputData, (int) a_uInputDataLen,
+            (wchar_t *) a_pOutputData, (int) a_uOutputDataSize);
+        return (nSize > 0);
+    }
+
+    /** Calculate the number of char required by the storage format of this
+     * data. The storage format is always UTF-8.
+     *
+     * @param a_pInputData  NULL terminated string to calculate the number of
+     *                      bytes required to be converted to storage format.
+     * @return              Number of bytes required by the string when
+     *                      converted to storage format. This size always
+     *                      includes space for the terminating NULL character.
+     * @return              -1 cast to size_t on a conversion error.
+     */
+    size_t SizeToStore(
+        const SI_CHAR * a_pInputData)
+    {
+        int retval = WideCharToMultiByte(
+            m_uCodePage, 0,
+            (const wchar_t *) a_pInputData, -1,
+            0, 0, 0, 0);
+        return (size_t) (retval > 0 ? retval : -1);
+    }
+
+    /** Convert the input string to the storage format of this data.
+     * The storage format is always UTF-8 or MBCS.
+     *
+     * @param a_pInputData  NULL terminated source string to convert. All of
+     *                      the data will be converted including the
+     *                      terminating NULL character.
+     * @param a_pOutputData Pointer to the buffer to receive the converted
+     *                      string.
+     * @param a_pOutputDataSize Size of the output buffer in char.
+     * @return              true if all of the input data, including the
+     *                      terminating NULL character was successfully
+     *                      converted.
+     */
+    bool ConvertToStore(
+        const SI_CHAR * a_pInputData,
+        char *          a_pOutputData,
+        size_t          a_uOutputDataSize)
+    {
+        int retval = WideCharToMultiByte(
+            m_uCodePage, 0,
+            (const wchar_t *) a_pInputData, -1,
+            a_pOutputData, (int) a_uOutputDataSize, 0, 0);
+        return retval > 0;
+    }
+};
+
+#endif // SI_CONVERT_WIN32
+
+
+
+// ---------------------------------------------------------------------------
+//                              SI_NO_CONVERSION
+// ---------------------------------------------------------------------------
+#ifdef SI_NO_CONVERSION
+
+#define SI_Case     SI_GenericCase
+#define SI_NoCase   SI_GenericNoCase
+
+#endif // SI_NO_CONVERSION
+
+
+
+// ---------------------------------------------------------------------------
+//                                  TYPE DEFINITIONS
+// ---------------------------------------------------------------------------
+
+typedef CSimpleIniTempl,SI_ConvertA >                 CSimpleIniA;
+typedef CSimpleIniTempl,SI_ConvertA >                   CSimpleIniCaseA;
+
+#if defined(SI_NO_CONVERSION)
+// if there is no wide char conversion then we don't need to define the 
+// widechar "W" versions of CSimpleIni
+# define CSimpleIni      CSimpleIniA
+# define CSimpleIniCase  CSimpleIniCaseA
+# define SI_NEWLINE      SI_NEWLINE_A
+#else
+# if defined(SI_CONVERT_ICU)
+typedef CSimpleIniTempl,SI_ConvertW >               CSimpleIniW;
+typedef CSimpleIniTempl,SI_ConvertW >                 CSimpleIniCaseW;
+# else
+typedef CSimpleIniTempl,SI_ConvertW >           CSimpleIniW;
+typedef CSimpleIniTempl,SI_ConvertW >             CSimpleIniCaseW;
+# endif
+
+# ifdef _UNICODE
+#  define CSimpleIni      CSimpleIniW
+#  define CSimpleIniCase  CSimpleIniCaseW
+#  define SI_NEWLINE      SI_NEWLINE_W
+# else // !_UNICODE 
+#  define CSimpleIni      CSimpleIniA
+#  define CSimpleIniCase  CSimpleIniCaseA
+#  define SI_NEWLINE      SI_NEWLINE_A
+# endif // _UNICODE
+#endif
+
+#ifdef _MSC_VER
+# pragma warning (pop)
+#endif
+
+#endif // INCLUDED_SimpleIni_h
+
diff --git a/VrUtils/jsoncpp/json/assertions.h b/VrUtils/jsoncpp/json/assertions.h
new file mode 100644
index 0000000..5ef7e7b
--- /dev/null
+++ b/VrUtils/jsoncpp/json/assertions.h
@@ -0,0 +1,41 @@
+// Copyright 2007-2010 Baptiste Lepilleur
+// Distributed under MIT license, or public domain if desired and
+// recognized in your jurisdiction.
+// See file LICENSE for detail or copy at http://jsoncpp.sourceforge.net/LICENSE
+
+#ifndef CPPTL_JSON_ASSERTIONS_H_INCLUDED
+#define CPPTL_JSON_ASSERTIONS_H_INCLUDED
+
+#include 
+
+#if !defined(JSON_IS_AMALGAMATION)
+#include "config.h"
+#endif // if !defined(JSON_IS_AMALGAMATION)
+
+#if JSON_USE_EXCEPTION
+#include 
+#define JSON_ASSERT(condition)                                                 \
+  assert(condition); // @todo <= change this into an exception throw
+#define JSON_FAIL_MESSAGE(message) throw std::runtime_error(message);
+#else // JSON_USE_EXCEPTION
+#define JSON_ASSERT(condition) assert(condition);
+
+// The call to assert() will show the failure message in debug builds. In
+// release bugs we write to invalid memory in order to crash hard, so that a
+// debugger or crash reporter gets the chance to take over. We still call exit()
+// afterward in order to tell the compiler that this macro doesn't return.
+#define JSON_FAIL_MESSAGE(message)                                             \
+  {                                                                            \
+    assert(false&& message);                                                   \
+    strcpy(reinterpret_cast(666), message);                             \
+    exit(123);                                                                 \
+  }
+
+#endif
+
+#define JSON_ASSERT_MESSAGE(condition, message)                                \
+  if (!(condition)) {                                                          \
+    JSON_FAIL_MESSAGE(message)                                                 \
+  }
+
+#endif // CPPTL_JSON_ASSERTIONS_H_INCLUDED
diff --git a/VrUtils/jsoncpp/json/autolink.h b/VrUtils/jsoncpp/json/autolink.h
new file mode 100644
index 0000000..6fcc8af
--- /dev/null
+++ b/VrUtils/jsoncpp/json/autolink.h
@@ -0,0 +1,25 @@
+// Copyright 2007-2010 Baptiste Lepilleur
+// Distributed under MIT license, or public domain if desired and
+// recognized in your jurisdiction.
+// See file LICENSE for detail or copy at http://jsoncpp.sourceforge.net/LICENSE
+
+#ifndef JSON_AUTOLINK_H_INCLUDED
+#define JSON_AUTOLINK_H_INCLUDED
+
+#include "config.h"
+
+#ifdef JSON_IN_CPPTL
+#include 
+#endif
+
+#if !defined(JSON_NO_AUTOLINK) && !defined(JSON_DLL_BUILD) &&                  \
+    !defined(JSON_IN_CPPTL)
+#define CPPTL_AUTOLINK_NAME "json"
+#undef CPPTL_AUTOLINK_DLL
+#ifdef JSON_DLL
+#define CPPTL_AUTOLINK_DLL
+#endif
+#include "autolink.h"
+#endif
+
+#endif // JSON_AUTOLINK_H_INCLUDED
diff --git a/VrUtils/jsoncpp/json/config.h b/VrUtils/jsoncpp/json/config.h
new file mode 100644
index 0000000..c9a8c77
--- /dev/null
+++ b/VrUtils/jsoncpp/json/config.h
@@ -0,0 +1,114 @@
+// Copyright 2007-2010 Baptiste Lepilleur
+// Distributed under MIT license, or public domain if desired and
+// recognized in your jurisdiction.
+// See file LICENSE for detail or copy at http://jsoncpp.sourceforge.net/LICENSE
+
+#ifndef JSON_CONFIG_H_INCLUDED
+#define JSON_CONFIG_H_INCLUDED
+
+/// If defined, indicates that json library is embedded in CppTL library.
+//# define JSON_IN_CPPTL 1
+
+/// If defined, indicates that json may leverage CppTL library
+//#  define JSON_USE_CPPTL 1
+/// If defined, indicates that cpptl vector based map should be used instead of
+/// std::map
+/// as Value container.
+//#  define JSON_USE_CPPTL_SMALLMAP 1
+/// If defined, indicates that Json specific container should be used
+/// (hash table & simple deque container with customizable allocator).
+/// THIS FEATURE IS STILL EXPERIMENTAL! There is know bugs: See #3177332
+//#  define JSON_VALUE_USE_INTERNAL_MAP 1
+/// Force usage of standard new/malloc based allocator instead of memory pool
+/// based allocator.
+/// The memory pools allocator used optimization (initializing Value and
+/// ValueInternalLink
+/// as if it was a POD) that may cause some validation tool to report errors.
+/// Only has effects if JSON_VALUE_USE_INTERNAL_MAP is defined.
+//#  define JSON_USE_SIMPLE_INTERNAL_ALLOCATOR 1
+
+// If non-zero, the library uses exceptions to report bad input instead of C
+// assertion macros. The default is to use exceptions.
+#ifndef JSON_USE_EXCEPTION
+#define JSON_USE_EXCEPTION 1
+#endif
+
+/// If defined, indicates that the source file is amalgated
+/// to prevent private header inclusion.
+/// Remarks: it is automatically defined in the generated amalgated header.
+// #define JSON_IS_AMALGAMATION
+
+#ifdef JSON_IN_CPPTL
+#include 
+#ifndef JSON_USE_CPPTL
+#define JSON_USE_CPPTL 1
+#endif
+#endif
+
+#ifdef JSON_IN_CPPTL
+#define JSON_API CPPTL_API
+#elif defined(JSON_DLL_BUILD)
+#if defined(_MSC_VER)
+#define JSON_API __declspec(dllexport)
+#define JSONCPP_DISABLE_DLL_INTERFACE_WARNING
+#endif // if defined(_MSC_VER)
+#elif defined(JSON_DLL)
+#if defined(_MSC_VER)
+#define JSON_API __declspec(dllimport)
+#define JSONCPP_DISABLE_DLL_INTERFACE_WARNING
+#endif // if defined(_MSC_VER)
+#endif // ifdef JSON_IN_CPPTL
+#if !defined(JSON_API)
+#define JSON_API
+#endif
+
+// If JSON_NO_INT64 is defined, then Json only support C++ "int" type for
+// integer
+// Storages, and 64 bits integer support is disabled.
+// #define JSON_NO_INT64 1
+
+#if defined(_MSC_VER) && _MSC_VER <= 1200 // MSVC 6
+// Microsoft Visual Studio 6 only support conversion from __int64 to double
+// (no conversion from unsigned __int64).
+#define JSON_USE_INT64_DOUBLE_CONVERSION 1
+// Disable warning 4786 for VS6 caused by STL (identifier was truncated to '255'
+// characters in the debug information)
+// All projects I've ever seen with VS6 were using this globally (not bothering
+// with pragma push/pop).
+#pragma warning(disable : 4786)
+#endif // if defined(_MSC_VER)  &&  _MSC_VER < 1200 // MSVC 6
+
+#if defined(_MSC_VER) && _MSC_VER >= 1500 // MSVC 2008
+/// Indicates that the following function is deprecated.
+#define JSONCPP_DEPRECATED(message) __declspec(deprecated(message))
+#endif
+
+#if !defined(JSONCPP_DEPRECATED)
+#define JSONCPP_DEPRECATED(message)
+#endif // if !defined(JSONCPP_DEPRECATED)
+
+namespace VA {
+namespace Json {
+typedef int Int;
+typedef unsigned int UInt;
+#if defined(JSON_NO_INT64)
+typedef int LargestInt;
+typedef unsigned int LargestUInt;
+#undef JSON_HAS_INT64
+#else                 // if defined(JSON_NO_INT64)
+// For Microsoft Visual use specific types as long long is not supported
+#if defined(_MSC_VER) // Microsoft Visual Studio
+typedef __int64 Int64;
+typedef unsigned __int64 UInt64;
+#else                 // if defined(_MSC_VER) // Other platforms, use long long
+typedef long long int Int64;
+typedef unsigned long long int UInt64;
+#endif // if defined(_MSC_VER)
+typedef Int64 LargestInt;
+typedef UInt64 LargestUInt;
+#define JSON_HAS_INT64
+#endif // if defined(JSON_NO_INT64)
+} // end namespace Json
+}  // namespace VA
+
+#endif // JSON_CONFIG_H_INCLUDED
diff --git a/VrUtils/jsoncpp/json/features.h b/VrUtils/jsoncpp/json/features.h
new file mode 100644
index 0000000..fb2562b
--- /dev/null
+++ b/VrUtils/jsoncpp/json/features.h
@@ -0,0 +1,59 @@
+// Copyright 2007-2010 Baptiste Lepilleur
+// Distributed under MIT license, or public domain if desired and
+// recognized in your jurisdiction.
+// See file LICENSE for detail or copy at http://jsoncpp.sourceforge.net/LICENSE
+
+#ifndef CPPTL_JSON_FEATURES_H_INCLUDED
+#define CPPTL_JSON_FEATURES_H_INCLUDED
+
+#if !defined(JSON_IS_AMALGAMATION)
+#include "forwards.h"
+#endif // if !defined(JSON_IS_AMALGAMATION)
+
+namespace VA {
+namespace Json {
+
+/** \brief Configuration passed to reader and writer.
+ * This configuration object can be used to force the Reader or Writer
+ * to behave in a standard conforming way.
+ */
+class JSON_API Features {
+public:
+  /** \brief A configuration that allows all features and assumes all strings
+   * are UTF-8.
+   * - C & C++ comments are allowed
+   * - Root object can be any JSON value
+   * - Assumes Value strings are encoded in UTF-8
+   */
+  static Features all();
+
+  /** \brief A configuration that is strictly compatible with the JSON
+   * specification.
+   * - Comments are forbidden.
+   * - Root object must be either an array or an object value.
+   * - Assumes Value strings are encoded in UTF-8
+   */
+  static Features strictMode();
+
+  /** \brief Initialize the configuration like JsonConfig::allFeatures;
+   */
+  Features();
+
+  /// \c true if comments are allowed. Default: \c true.
+  bool allowComments_;
+
+  /// \c true if root must be either an array or an object value. Default: \c
+  /// false.
+  bool strictRoot_;
+
+  /// \c true if dropped null placeholders are allowed. Default: \c false.
+  bool allowDroppedNullPlaceholders_;
+
+  /// \c true if numeric object key are allowed. Default: \c false.
+  bool allowNumericKeys_;
+};
+
+} // namespace Json
+} // namespace VA
+
+#endif // CPPTL_JSON_FEATURES_H_INCLUDED
diff --git a/VrUtils/jsoncpp/json/forwards.h b/VrUtils/jsoncpp/json/forwards.h
new file mode 100644
index 0000000..a6b19ae
--- /dev/null
+++ b/VrUtils/jsoncpp/json/forwards.h
@@ -0,0 +1,45 @@
+// Copyright 2007-2010 Baptiste Lepilleur
+// Distributed under MIT license, or public domain if desired and
+// recognized in your jurisdiction.
+// See file LICENSE for detail or copy at http://jsoncpp.sourceforge.net/LICENSE
+
+#ifndef JSON_FORWARDS_H_INCLUDED
+#define JSON_FORWARDS_H_INCLUDED
+
+#if !defined(JSON_IS_AMALGAMATION)
+#include "config.h"
+#endif // if !defined(JSON_IS_AMALGAMATION)
+
+namespace VA {
+namespace Json {
+
+// writer.h
+class FastWriter;
+class StyledWriter;
+
+// reader.h
+class Reader;
+
+// features.h
+class Features;
+
+// value.h
+typedef unsigned int ArrayIndex;
+class StaticString;
+class Path;
+class PathArgument;
+class Value;
+class ValueIteratorBase;
+class ValueIterator;
+class ValueConstIterator;
+#ifdef JSON_VALUE_USE_INTERNAL_MAP
+class ValueMapAllocator;
+class ValueInternalLink;
+class ValueInternalArray;
+class ValueInternalMap;
+#endif // #ifdef JSON_VALUE_USE_INTERNAL_MAP
+
+} // namespace Json
+} // namespace VA
+
+#endif // JSON_FORWARDS_H_INCLUDED
diff --git a/VrUtils/jsoncpp/json/json.h b/VrUtils/jsoncpp/json/json.h
new file mode 100644
index 0000000..8f10ac2
--- /dev/null
+++ b/VrUtils/jsoncpp/json/json.h
@@ -0,0 +1,15 @@
+// Copyright 2007-2010 Baptiste Lepilleur
+// Distributed under MIT license, or public domain if desired and
+// recognized in your jurisdiction.
+// See file LICENSE for detail or copy at http://jsoncpp.sourceforge.net/LICENSE
+
+#ifndef JSON_JSON_H_INCLUDED
+#define JSON_JSON_H_INCLUDED
+
+#include "autolink.h"
+#include "value.h"
+#include "reader.h"
+#include "writer.h"
+#include "features.h"
+
+#endif // JSON_JSON_H_INCLUDED
diff --git a/VrUtils/jsoncpp/json/reader.h b/VrUtils/jsoncpp/json/reader.h
new file mode 100644
index 0000000..daa3a70
--- /dev/null
+++ b/VrUtils/jsoncpp/json/reader.h
@@ -0,0 +1,277 @@
+// Copyright 2007-2010 Baptiste Lepilleur
+// Distributed under MIT license, or public domain if desired and
+// recognized in your jurisdiction.
+// See file LICENSE for detail or copy at http://jsoncpp.sourceforge.net/LICENSE
+
+#ifndef CPPTL_JSON_READER_H_INCLUDED
+#define CPPTL_JSON_READER_H_INCLUDED
+
+#if !defined(JSON_IS_AMALGAMATION)
+#include "features.h"
+#include "value.h"
+#endif // if !defined(JSON_IS_AMALGAMATION)
+#include 
+#include 
+#include 
+#include 
+
+// Disable warning C4251: :  needs to have dll-interface to
+// be used by...
+#if defined(JSONCPP_DISABLE_DLL_INTERFACE_WARNING)
+#pragma warning(push)
+#pragma warning(disable : 4251)
+#endif // if defined(JSONCPP_DISABLE_DLL_INTERFACE_WARNING)
+
+namespace VA {
+namespace Json {
+
+/** \brief Unserialize a JSON document into a
+ *Value.
+ *
+ */
+class JSON_API Reader {
+public:
+  typedef char Char;
+  typedef const Char* Location;
+
+  /** \brief An error tagged with where in the JSON text it was encountered.
+   *
+   * The offsets give the [start, limit) range of bytes within the text. Note
+   * that this is bytes, not codepoints.
+   *
+   */
+  struct StructuredError {
+    size_t offset_start;
+    size_t offset_limit;
+    std::string message;
+  };
+
+  /** \brief Constructs a Reader allowing all features
+   * for parsing.
+   */
+  Reader();
+
+  /** \brief Constructs a Reader allowing the specified feature set
+   * for parsing.
+   */
+  Reader(const Features& features);
+
+  /** \brief Read a Value from a JSON
+   * document.
+   * \param document UTF-8 encoded string containing the document to read.
+   * \param root [out] Contains the root value of the document if it was
+   *             successfully parsed.
+   * \param collectComments \c true to collect comment and allow writing them
+   * back during
+   *                        serialization, \c false to discard comments.
+   *                        This parameter is ignored if
+   * Features::allowComments_
+   *                        is \c false.
+   * \return \c true if the document was successfully parsed, \c false if an
+   * error occurred.
+   */
+  bool
+  parse(const std::string& document, Value& root, bool collectComments = true);
+
+  /** \brief Read a Value from a JSON
+   document.
+   * \param beginDoc Pointer on the beginning of the UTF-8 encoded string of the
+   document to read.
+   * \param endDoc Pointer on the end of the UTF-8 encoded string of the
+   document to read.
+   \               Must be >= beginDoc.
+   * \param root [out] Contains the root value of the document if it was
+   *             successfully parsed.
+   * \param collectComments \c true to collect comment and allow writing them
+   back during
+   *                        serialization, \c false to discard comments.
+   *                        This parameter is ignored if
+   Features::allowComments_
+   *                        is \c false.
+   * \return \c true if the document was successfully parsed, \c false if an
+   error occurred.
+   */
+  bool parse(const char* beginDoc,
+             const char* endDoc,
+             Value& root,
+             bool collectComments = true);
+
+  /// \brief Parse from input stream.
+  /// \see Json::operator>>(std::istream&, Json::Value&).
+  bool parse(std::istream& is, Value& root, bool collectComments = true);
+
+  /** \brief Returns a user friendly string that list errors in the parsed
+   * document.
+   * \return Formatted error message with the list of errors with their location
+   * in
+   *         the parsed document. An empty string is returned if no error
+   * occurred
+   *         during parsing.
+   * \deprecated Use getFormattedErrorMessages() instead (typo fix).
+   */
+  JSONCPP_DEPRECATED("Use getFormattedErrorMessages instead")
+  std::string getFormatedErrorMessages() const;
+
+  /** \brief Returns a user friendly string that list errors in the parsed
+   * document.
+   * \return Formatted error message with the list of errors with their location
+   * in
+   *         the parsed document. An empty string is returned if no error
+   * occurred
+   *         during parsing.
+   */
+  std::string getFormattedErrorMessages() const;
+
+  /** \brief Returns a vector of structured erros encounted while parsing.
+   * \return A (possibly empty) vector of StructuredError objects. Currently
+   *         only one error can be returned, but the caller should tolerate
+   * multiple
+   *         errors.  This can occur if the parser recovers from a non-fatal
+   *         parse error and then encounters additional errors.
+   */
+  std::vector getStructuredErrors() const;
+
+  /** \brief Add a semantic error message.
+   * \param value JSON Value location associated with the error
+   * \param message The error message.
+   * \return \c true if the error was successfully added, \c false if the
+   * Value offset exceeds the document size.
+   */
+  bool pushError(const Value& value, const std::string& message);
+
+  /** \brief Add a semantic error message with extra context.
+   * \param value JSON Value location associated with the error
+   * \param message The error message.
+   * \param extra Additional JSON Value location to contextualize the error
+   * \return \c true if the error was successfully added, \c false if either
+   * Value offset exceeds the document size.
+   */
+  bool pushError(const Value& value, const std::string& message, const Value& extra);
+
+  /** \brief Return whether there are any errors.
+   * \return \c true if there are no errors to report \c false if
+   * errors have occurred.
+   */
+  bool good() const;
+
+private:
+  enum TokenType {
+    tokenEndOfStream = 0,
+    tokenObjectBegin,
+    tokenObjectEnd,
+    tokenArrayBegin,
+    tokenArrayEnd,
+    tokenString,
+    tokenNumber,
+    tokenTrue,
+    tokenFalse,
+    tokenNull,
+    tokenArraySeparator,
+    tokenMemberSeparator,
+    tokenComment,
+    tokenError
+  };
+
+  class Token {
+  public:
+    TokenType type_;
+    Location start_;
+    Location end_;
+  };
+
+  class ErrorInfo {
+  public:
+    Token token_;
+    std::string message_;
+    Location extra_;
+  };
+
+  typedef std::deque Errors;
+
+  bool expectToken(TokenType type, Token& token, const char* message);
+  bool readToken(Token& token);
+  void skipSpaces();
+  bool match(Location pattern, int patternLength);
+  bool readComment();
+  bool readCStyleComment();
+  bool readCppStyleComment();
+  bool readString();
+  void readNumber();
+  bool readValue();
+  bool readObject(Token& token);
+  bool readArray(Token& token);
+  bool decodeNumber(Token& token);
+  bool decodeNumber(Token& token, Value& decoded);
+  bool decodeString(Token& token);
+  bool decodeString(Token& token, std::string& decoded);
+  bool decodeDouble(Token& token);
+  bool decodeDouble(Token& token, Value& decoded);
+  bool decodeUnicodeCodePoint(Token& token,
+                              Location& current,
+                              Location end,
+                              unsigned int& unicode);
+  bool decodeUnicodeEscapeSequence(Token& token,
+                                   Location& current,
+                                   Location end,
+                                   unsigned int& unicode);
+  bool addError(const std::string& message, Token& token, Location extra = 0);
+  bool recoverFromError(TokenType skipUntilToken);
+  bool addErrorAndRecover(const std::string& message,
+                          Token& token,
+                          TokenType skipUntilToken);
+  void skipUntilSpace();
+  Value& currentValue();
+  Char getNextChar();
+  void
+  getLocationLineAndColumn(Location location, int& line, int& column) const;
+  std::string getLocationLineAndColumn(Location location) const;
+  void addComment(Location begin, Location end, CommentPlacement placement);
+  void skipCommentTokens(Token& token);
+
+  typedef std::stack Nodes;
+  Nodes nodes_;
+  Errors errors_;
+  std::string document_;
+  Location begin_;
+  Location end_;
+  Location current_;
+  Location lastValueEnd_;
+  Value* lastValue_;
+  std::string commentsBefore_;
+  Features features_;
+  bool collectComments_;
+};
+
+/** \brief Read from 'sin' into 'root'.
+
+ Always keep comments from the input JSON.
+
+ This can be used to read a file into a particular sub-object.
+ For example:
+ \code
+ Json::Value root;
+ cin >> root["dir"]["file"];
+ cout << root;
+ \endcode
+ Result:
+ \verbatim
+ {
+ "dir": {
+     "file": {
+     // The input stream JSON would be nested here.
+     }
+ }
+ }
+ \endverbatim
+ \throw std::exception on parse error.
+ \see Json::operator<<()
+*/
+JSON_API std::istream& operator>>(std::istream&, Value&);
+
+} // namespace Json
+} // namespace VA
+#if defined(JSONCPP_DISABLE_DLL_INTERFACE_WARNING)
+#pragma warning(pop)
+#endif // if defined(JSONCPP_DISABLE_DLL_INTERFACE_WARNING)
+
+#endif // CPPTL_JSON_READER_H_INCLUDED
diff --git a/VrUtils/jsoncpp/json/value.h b/VrUtils/jsoncpp/json/value.h
new file mode 100644
index 0000000..0cd139f
--- /dev/null
+++ b/VrUtils/jsoncpp/json/value.h
@@ -0,0 +1,1091 @@
+// Copyright 2007-2010 Baptiste Lepilleur
+// Distributed under MIT license, or public domain if desired and
+// recognized in your jurisdiction.
+// See file LICENSE for detail or copy at http://jsoncpp.sourceforge.net/LICENSE
+
+#ifndef CPPTL_JSON_H_INCLUDED
+#define CPPTL_JSON_H_INCLUDED
+
+#if !defined(JSON_IS_AMALGAMATION)
+#include "forwards.h"
+#endif // if !defined(JSON_IS_AMALGAMATION)
+#include 
+#include 
+#include 
+#include 
+
+#ifndef JSON_USE_CPPTL_SMALLMAP
+#include 
+#else
+#include 
+#endif
+#ifdef JSON_USE_CPPTL
+#include 
+#endif
+
+// Disable warning C4251: :  needs to have dll-interface to
+// be used by...
+#if defined(JSONCPP_DISABLE_DLL_INTERFACE_WARNING)
+#pragma warning(push)
+#pragma warning(disable : 4251)
+#endif // if defined(JSONCPP_DISABLE_DLL_INTERFACE_WARNING)
+
+/** \brief JSON (JavaScript Object Notation).
+ */
+namespace VA {
+namespace Json {
+
+/** \brief Type of the value held by a Value object.
+ */
+enum ValueType {
+  nullValue = 0, ///< 'null' value
+  intValue,      ///< signed integer value
+  uintValue,     ///< unsigned integer value
+  realValue,     ///< double value
+  stringValue,   ///< UTF-8 string value
+  booleanValue,  ///< bool value
+  arrayValue,    ///< array value (ordered list)
+  objectValue    ///< object value (collection of name/value pairs).
+};
+
+enum CommentPlacement {
+  commentBefore = 0,      ///< a comment placed on the line before a value
+  commentAfterOnSameLine, ///< a comment just after a value on the same line
+  commentAfter, ///< a comment on the line after a value (only make sense for
+  /// root value)
+  numberOfCommentPlacement
+};
+
+//# ifdef JSON_USE_CPPTL
+//   typedef CppTL::AnyEnumerator EnumMemberNames;
+//   typedef CppTL::AnyEnumerator EnumValues;
+//# endif
+
+/** \brief Lightweight wrapper to tag static string.
+ *
+ * Value constructor and objectValue member assignement takes advantage of the
+ * StaticString and avoid the cost of string duplication when storing the
+ * string or the member name.
+ *
+ * Example of usage:
+ * \code
+ * Json::Value aValue( StaticString("some text") );
+ * Json::Value object;
+ * static const StaticString code("code");
+ * object[code] = 1234;
+ * \endcode
+ */
+class JSON_API StaticString {
+public:
+  explicit StaticString(const char* czstring) : str_(czstring) {}
+
+  operator const char*() const { return str_; }
+
+  const char* c_str() const { return str_; }
+
+private:
+  const char* str_;
+};
+
+/** \brief Represents a JSON value.
+ *
+ * This class is a discriminated union wrapper that can represents a:
+ * - signed integer [range: Value::minInt - Value::maxInt]
+ * - unsigned integer (range: 0 - Value::maxUInt)
+ * - double
+ * - UTF-8 string
+ * - boolean
+ * - 'null'
+ * - an ordered list of Value
+ * - collection of name/value pairs (javascript object)
+ *
+ * The type of the held value is represented by a #ValueType and
+ * can be obtained using type().
+ *
+ * values of an #objectValue or #arrayValue can be accessed using operator[]()
+ *methods.
+ * Non const methods will automatically create the a #nullValue element
+ * if it does not exist.
+ * The sequence of an #arrayValue will be automatically resize and initialized
+ * with #nullValue. resize() can be used to enlarge or truncate an #arrayValue.
+ *
+ * The get() methods can be used to obtanis default value in the case the
+ *required element
+ * does not exist.
+ *
+ * It is possible to iterate over the list of a #objectValue values using
+ * the getMemberNames() method.
+ */
+class JSON_API Value {
+  friend class ValueIteratorBase;
+#ifdef JSON_VALUE_USE_INTERNAL_MAP
+  friend class ValueInternalLink;
+  friend class ValueInternalMap;
+#endif
+public:
+  typedef std::vector Members;
+  typedef ValueIterator iterator;
+  typedef ValueConstIterator const_iterator;
+  typedef Json::UInt UInt;
+  typedef Json::Int Int;
+#if defined(JSON_HAS_INT64)
+  typedef Json::UInt64 UInt64;
+  typedef Json::Int64 Int64;
+#endif // defined(JSON_HAS_INT64)
+  typedef Json::LargestInt LargestInt;
+  typedef Json::LargestUInt LargestUInt;
+  typedef Json::ArrayIndex ArrayIndex;
+
+  static const Value& null;
+  /// Minimum signed integer value that can be stored in a Json::Value.
+  static const LargestInt minLargestInt;
+  /// Maximum signed integer value that can be stored in a Json::Value.
+  static const LargestInt maxLargestInt;
+  /// Maximum unsigned integer value that can be stored in a Json::Value.
+  static const LargestUInt maxLargestUInt;
+
+  /// Minimum signed int value that can be stored in a Json::Value.
+  static const Int minInt;
+  /// Maximum signed int value that can be stored in a Json::Value.
+  static const Int maxInt;
+  /// Maximum unsigned int value that can be stored in a Json::Value.
+  static const UInt maxUInt;
+
+#if defined(JSON_HAS_INT64)
+  /// Minimum signed 64 bits int value that can be stored in a Json::Value.
+  static const Int64 minInt64;
+  /// Maximum signed 64 bits int value that can be stored in a Json::Value.
+  static const Int64 maxInt64;
+  /// Maximum unsigned 64 bits int value that can be stored in a Json::Value.
+  static const UInt64 maxUInt64;
+#endif // defined(JSON_HAS_INT64)
+
+private:
+#ifndef JSONCPP_DOC_EXCLUDE_IMPLEMENTATION
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  class CZString {
+  public:
+    enum DuplicationPolicy {
+      noDuplication = 0,
+      duplicate,
+      duplicateOnCopy
+    };
+    CZString(ArrayIndex index);
+    CZString(const char* cstr, DuplicationPolicy allocate);
+    CZString(const CZString& other);
+    ~CZString();
+    CZString& operator=(CZString other);
+    bool operator<(const CZString& other) const;
+    bool operator==(const CZString& other) const;
+    ArrayIndex index() const;
+    const char* c_str() const;
+    bool isStaticString() const;
+
+  private:
+    void swap(CZString& other);
+    const char* cstr_;
+    ArrayIndex index_;
+  };
+
+public:
+#ifndef JSON_USE_CPPTL_SMALLMAP
+  typedef std::map ObjectValues;
+#else
+  typedef CppTL::SmallMap ObjectValues;
+#endif // ifndef JSON_USE_CPPTL_SMALLMAP
+#endif // ifndef JSON_VALUE_USE_INTERNAL_MAP
+#endif // ifndef JSONCPP_DOC_EXCLUDE_IMPLEMENTATION
+
+public:
+  /** \brief Create a default Value of the given type.
+
+    This is a very useful constructor.
+    To create an empty array, pass arrayValue.
+    To create an empty object, pass objectValue.
+    Another Value can then be set to this one by assignment.
+This is useful since clear() and resize() will not alter types.
+
+    Examples:
+\code
+Json::Value null_value; // null
+Json::Value arr_value(Json::arrayValue); // []
+Json::Value obj_value(Json::objectValue); // {}
+\endcode
+  */
+  Value(ValueType type = nullValue);
+  Value(Int value);
+  Value(UInt value);
+#if defined(JSON_HAS_INT64)
+  Value(Int64 value);
+  Value(UInt64 value);
+#endif // if defined(JSON_HAS_INT64)
+  Value(double value);
+  Value(const char* value);
+  Value(const char* beginValue, const char* endValue);
+  /** \brief Constructs a value from a static string.
+
+   * Like other value string constructor but do not duplicate the string for
+   * internal storage. The given string must remain alive after the call to this
+   * constructor.
+   * Example of usage:
+   * \code
+   * Json::Value aValue( StaticString("some text") );
+   * \endcode
+   */
+  Value(const StaticString& value);
+  Value(const std::string& value);
+#ifdef JSON_USE_CPPTL
+  Value(const CppTL::ConstString& value);
+#endif
+  Value(bool value);
+  Value(const Value& other);
+  ~Value();
+
+  Value& operator=(Value other);
+  /// Swap values.
+  /// \note Currently, comments are intentionally not swapped, for
+  /// both logic and efficiency.
+  void swap(Value& other);
+
+  ValueType type() const;
+
+  bool operator<(const Value& other) const;
+  bool operator<=(const Value& other) const;
+  bool operator>=(const Value& other) const;
+  bool operator>(const Value& other) const;
+
+  bool operator==(const Value& other) const;
+  bool operator!=(const Value& other) const;
+
+  int compare(const Value& other) const;
+
+  const char* asCString() const;
+  std::string asString() const;
+#ifdef JSON_USE_CPPTL
+  CppTL::ConstString asConstString() const;
+#endif
+  Int asInt() const;
+  UInt asUInt() const;
+#if defined(JSON_HAS_INT64)
+  Int64 asInt64() const;
+  UInt64 asUInt64() const;
+#endif // if defined(JSON_HAS_INT64)
+  LargestInt asLargestInt() const;
+  LargestUInt asLargestUInt() const;
+  float asFloat() const;
+  double asDouble() const;
+  bool asBool() const;
+
+  bool isNull() const;
+  bool isBool() const;
+  bool isInt() const;
+  bool isInt64() const;
+  bool isUInt() const;
+  bool isUInt64() const;
+  bool isIntegral() const;
+  bool isDouble() const;
+  bool isNumeric() const;
+  bool isString() const;
+  bool isArray() const;
+  bool isObject() const;
+
+  bool isConvertibleTo(ValueType other) const;
+
+  /// Number of values in array or object
+  ArrayIndex size() const;
+
+  /// \brief Return true if empty array, empty object, or null;
+  /// otherwise, false.
+  bool empty() const;
+
+  /// Return isNull()
+  bool operator!() const;
+
+  /// Remove all object members and array elements.
+  /// \pre type() is arrayValue, objectValue, or nullValue
+  /// \post type() is unchanged
+  void clear();
+
+  /// Resize the array to size elements.
+  /// New elements are initialized to null.
+  /// May only be called on nullValue or arrayValue.
+  /// \pre type() is arrayValue or nullValue
+  /// \post type() is arrayValue
+  void resize(ArrayIndex size);
+
+  /// Access an array element (zero based index ).
+  /// If the array contains less than index element, then null value are
+  /// inserted
+  /// in the array so that its size is index+1.
+  /// (You may need to say 'value[0u]' to get your compiler to distinguish
+  ///  this from the operator[] which takes a string.)
+  Value& operator[](ArrayIndex index);
+
+  /// Access an array element (zero based index ).
+  /// If the array contains less than index element, then null value are
+  /// inserted
+  /// in the array so that its size is index+1.
+  /// (You may need to say 'value[0u]' to get your compiler to distinguish
+  ///  this from the operator[] which takes a string.)
+  Value& operator[](int index);
+
+  /// Access an array element (zero based index )
+  /// (You may need to say 'value[0u]' to get your compiler to distinguish
+  ///  this from the operator[] which takes a string.)
+  const Value& operator[](ArrayIndex index) const;
+
+  /// Access an array element (zero based index )
+  /// (You may need to say 'value[0u]' to get your compiler to distinguish
+  ///  this from the operator[] which takes a string.)
+  const Value& operator[](int index) const;
+
+  /// If the array contains at least index+1 elements, returns the element
+  /// value,
+  /// otherwise returns defaultValue.
+  Value get(ArrayIndex index, const Value& defaultValue) const;
+  /// Return true if index < size().
+  bool isValidIndex(ArrayIndex index) const;
+  /// \brief Append value to array at the end.
+  ///
+  /// Equivalent to jsonvalue[jsonvalue.size()] = value;
+  Value& append(const Value& value);
+
+  /// Access an object value by name, create a null member if it does not exist.
+  Value& operator[](const char* key);
+  /// Access an object value by name, returns null if there is no member with
+  /// that name.
+  const Value& operator[](const char* key) const;
+  /// Access an object value by name, create a null member if it does not exist.
+  Value& operator[](const std::string& key);
+  /// Access an object value by name, returns null if there is no member with
+  /// that name.
+  const Value& operator[](const std::string& key) const;
+  /** \brief Access an object value by name, create a null member if it does not
+   exist.
+
+   * If the object as no entry for that name, then the member name used to store
+   * the new entry is not duplicated.
+   * Example of use:
+   * \code
+   * Json::Value object;
+   * static const StaticString code("code");
+   * object[code] = 1234;
+   * \endcode
+   */
+  Value& operator[](const StaticString& key);
+#ifdef JSON_USE_CPPTL
+  /// Access an object value by name, create a null member if it does not exist.
+  Value& operator[](const CppTL::ConstString& key);
+  /// Access an object value by name, returns null if there is no member with
+  /// that name.
+  const Value& operator[](const CppTL::ConstString& key) const;
+#endif
+  /// Return the member named key if it exist, defaultValue otherwise.
+  Value get(const char* key, const Value& defaultValue) const;
+  /// Return the member named key if it exist, defaultValue otherwise.
+  Value get(const std::string& key, const Value& defaultValue) const;
+#ifdef JSON_USE_CPPTL
+  /// Return the member named key if it exist, defaultValue otherwise.
+  Value get(const CppTL::ConstString& key, const Value& defaultValue) const;
+#endif
+  /// \brief Remove and return the named member.
+  ///
+  /// Do nothing if it did not exist.
+  /// \return the removed Value, or null.
+  /// \pre type() is objectValue or nullValue
+  /// \post type() is unchanged
+  Value removeMember(const char* key);
+  /// Same as removeMember(const char*)
+  Value removeMember(const std::string& key);
+
+  /// Return true if the object has a member named key.
+  bool isMember(const char* key) const;
+  /// Return true if the object has a member named key.
+  bool isMember(const std::string& key) const;
+#ifdef JSON_USE_CPPTL
+  /// Return true if the object has a member named key.
+  bool isMember(const CppTL::ConstString& key) const;
+#endif
+
+  /// \brief Return a list of the member names.
+  ///
+  /// If null, return an empty list.
+  /// \pre type() is objectValue or nullValue
+  /// \post if type() was nullValue, it remains nullValue
+  Members getMemberNames() const;
+
+  //# ifdef JSON_USE_CPPTL
+  //      EnumMemberNames enumMemberNames() const;
+  //      EnumValues enumValues() const;
+  //# endif
+
+  /// Comments must be //... or /* ... */
+  void setComment(const char* comment, CommentPlacement placement);
+  /// Comments must be //... or /* ... */
+  void setComment(const std::string& comment, CommentPlacement placement);
+  bool hasComment(CommentPlacement placement) const;
+  /// Include delimiters and embedded newlines.
+  std::string getComment(CommentPlacement placement) const;
+
+  std::string toStyledString() const;
+
+  const_iterator begin() const;
+  const_iterator end() const;
+
+  iterator begin();
+  iterator end();
+
+  // Accessors for the [start, limit) range of bytes within the JSON text from
+  // which this value was parsed, if any.
+  void setOffsetStart(size_t start);
+  void setOffsetLimit(size_t limit);
+  size_t getOffsetStart() const;
+  size_t getOffsetLimit() const;
+
+private:
+  void initBasic(ValueType type, bool allocated = false);
+
+  Value& resolveReference(const char* key, bool isStatic);
+
+#ifdef JSON_VALUE_USE_INTERNAL_MAP
+  inline bool isItemAvailable() const { return itemIsUsed_ == 0; }
+
+  inline void setItemUsed(bool isUsed = true) { itemIsUsed_ = isUsed ? 1 : 0; }
+
+  inline bool isMemberNameStatic() const { return memberNameIsStatic_ == 0; }
+
+  inline void setMemberNameIsStatic(bool isStatic) {
+    memberNameIsStatic_ = isStatic ? 1 : 0;
+  }
+#endif // # ifdef JSON_VALUE_USE_INTERNAL_MAP
+
+private:
+  struct CommentInfo {
+    CommentInfo();
+    ~CommentInfo();
+
+    void setComment(const char* text);
+
+    char* comment_;
+  };
+
+  // struct MemberNamesTransform
+  //{
+  //   typedef const char *result_type;
+  //   const char *operator()( const CZString &name ) const
+  //   {
+  //      return name.c_str();
+  //   }
+  //};
+
+  union ValueHolder {
+    LargestInt int_;
+    LargestUInt uint_;
+    double real_;
+    bool bool_;
+    char* string_;
+#ifdef JSON_VALUE_USE_INTERNAL_MAP
+    ValueInternalArray* array_;
+    ValueInternalMap* map_;
+#else
+    ObjectValues* map_;
+#endif
+  } value_;
+  ValueType type_ : 8;
+  int allocated_ : 1; // Notes: if declared as bool, bitfield is useless.
+#ifdef JSON_VALUE_USE_INTERNAL_MAP
+  unsigned int itemIsUsed_ : 1; // used by the ValueInternalMap container.
+  int memberNameIsStatic_ : 1;  // used by the ValueInternalMap container.
+#endif
+  CommentInfo* comments_;
+
+  // [start, limit) byte offsets in the source JSON text from which this Value
+  // was extracted.
+  size_t start_;
+  size_t limit_;
+};
+
+/** \brief Experimental and untested: represents an element of the "path" to
+ * access a node.
+ */
+class JSON_API PathArgument {
+public:
+  friend class Path;
+
+  PathArgument();
+  PathArgument(ArrayIndex index);
+  PathArgument(const char* key);
+  PathArgument(const std::string& key);
+
+private:
+  enum Kind {
+    kindNone = 0,
+    kindIndex,
+    kindKey
+  };
+  std::string key_;
+  ArrayIndex index_;
+  Kind kind_;
+};
+
+/** \brief Experimental and untested: represents a "path" to access a node.
+ *
+ * Syntax:
+ * - "." => root node
+ * - ".[n]" => elements at index 'n' of root node (an array value)
+ * - ".name" => member named 'name' of root node (an object value)
+ * - ".name1.name2.name3"
+ * - ".[0][1][2].name1[3]"
+ * - ".%" => member name is provided as parameter
+ * - ".[%]" => index is provied as parameter
+ */
+class JSON_API Path {
+public:
+  Path(const std::string& path,
+       const PathArgument& a1 = PathArgument(),
+       const PathArgument& a2 = PathArgument(),
+       const PathArgument& a3 = PathArgument(),
+       const PathArgument& a4 = PathArgument(),
+       const PathArgument& a5 = PathArgument());
+
+  const Value& resolve(const Value& root) const;
+  Value resolve(const Value& root, const Value& defaultValue) const;
+  /// Creates the "path" to access the specified node and returns a reference on
+  /// the node.
+  Value& make(Value& root) const;
+
+private:
+  typedef std::vector InArgs;
+  typedef std::vector Args;
+
+  void makePath(const std::string& path, const InArgs& in);
+  void addPathInArg(const std::string& path,
+                    const InArgs& in,
+                    InArgs::const_iterator& itInArg,
+                    PathArgument::Kind kind);
+  void invalidPath(const std::string& path, int location);
+
+  Args args_;
+};
+
+#ifdef JSON_VALUE_USE_INTERNAL_MAP
+/** \brief Allocator to customize Value internal map.
+ * Below is an example of a simple implementation (default implementation
+ actually
+ * use memory pool for speed).
+ * \code
+   class DefaultValueMapAllocator : public ValueMapAllocator
+   {
+   public: // overridden from ValueMapAllocator
+      virtual ValueInternalMap *newMap()
+      {
+         return new ValueInternalMap();
+      }
+
+      virtual ValueInternalMap *newMapCopy( const ValueInternalMap &other )
+      {
+         return new ValueInternalMap( other );
+      }
+
+      virtual void destructMap( ValueInternalMap *map )
+      {
+         delete map;
+      }
+
+      virtual ValueInternalLink *allocateMapBuckets( unsigned int size )
+      {
+         return new ValueInternalLink[size];
+      }
+
+      virtual void releaseMapBuckets( ValueInternalLink *links )
+      {
+         delete [] links;
+      }
+
+      virtual ValueInternalLink *allocateMapLink()
+      {
+         return new ValueInternalLink();
+      }
+
+      virtual void releaseMapLink( ValueInternalLink *link )
+      {
+         delete link;
+      }
+   };
+ * \endcode
+ */
+class JSON_API ValueMapAllocator {
+public:
+  virtual ~ValueMapAllocator();
+  virtual ValueInternalMap* newMap() = 0;
+  virtual ValueInternalMap* newMapCopy(const ValueInternalMap& other) = 0;
+  virtual void destructMap(ValueInternalMap* map) = 0;
+  virtual ValueInternalLink* allocateMapBuckets(unsigned int size) = 0;
+  virtual void releaseMapBuckets(ValueInternalLink* links) = 0;
+  virtual ValueInternalLink* allocateMapLink() = 0;
+  virtual void releaseMapLink(ValueInternalLink* link) = 0;
+};
+
+/** \brief ValueInternalMap hash-map bucket chain link (for internal use only).
+ * \internal previous_ & next_ allows for bidirectional traversal.
+ */
+class JSON_API ValueInternalLink {
+public:
+  enum {
+    itemPerLink = 6
+  }; // sizeof(ValueInternalLink) = 128 on 32 bits architecture.
+  enum InternalFlags {
+    flagAvailable = 0,
+    flagUsed = 1
+  };
+
+  ValueInternalLink();
+
+  ~ValueInternalLink();
+
+  Value items_[itemPerLink];
+  char* keys_[itemPerLink];
+  ValueInternalLink* previous_;
+  ValueInternalLink* next_;
+};
+
+/** \brief A linked page based hash-table implementation used internally by
+ *Value.
+ * \internal ValueInternalMap is a tradional bucket based hash-table, with a
+ *linked
+ * list in each bucket to handle collision. There is an addional twist in that
+ * each node of the collision linked list is a page containing a fixed amount of
+ * value. This provides a better compromise between memory usage and speed.
+ *
+ * Each bucket is made up of a chained list of ValueInternalLink. The last
+ * link of a given bucket can be found in the 'previous_' field of the following
+ *bucket.
+ * The last link of the last bucket is stored in tailLink_ as it has no
+ *following bucket.
+ * Only the last link of a bucket may contains 'available' item. The last link
+ *always
+ * contains at least one element unless is it the bucket one very first link.
+ */
+class JSON_API ValueInternalMap {
+  friend class ValueIteratorBase;
+  friend class Value;
+
+public:
+  typedef unsigned int HashKey;
+  typedef unsigned int BucketIndex;
+
+#ifndef JSONCPP_DOC_EXCLUDE_IMPLEMENTATION
+  struct IteratorState {
+    IteratorState() : map_(0), link_(0), itemIndex_(0), bucketIndex_(0) {}
+    ValueInternalMap* map_;
+    ValueInternalLink* link_;
+    BucketIndex itemIndex_;
+    BucketIndex bucketIndex_;
+  };
+#endif // ifndef JSONCPP_DOC_EXCLUDE_IMPLEMENTATION
+
+  ValueInternalMap();
+  ValueInternalMap(const ValueInternalMap& other);
+  ValueInternalMap& operator=(ValueInternalMap other);
+  ~ValueInternalMap();
+
+  void swap(ValueInternalMap& other);
+
+  BucketIndex size() const;
+
+  void clear();
+
+  bool reserveDelta(BucketIndex growth);
+
+  bool reserve(BucketIndex newItemCount);
+
+  const Value* find(const char* key) const;
+
+  Value* find(const char* key);
+
+  Value& resolveReference(const char* key, bool isStatic);
+
+  void remove(const char* key);
+
+  void doActualRemove(ValueInternalLink* link,
+                      BucketIndex index,
+                      BucketIndex bucketIndex);
+
+  ValueInternalLink*& getLastLinkInBucket(BucketIndex bucketIndex);
+
+  Value& setNewItem(const char* key,
+                    bool isStatic,
+                    ValueInternalLink* link,
+                    BucketIndex index);
+
+  Value& unsafeAdd(const char* key, bool isStatic, HashKey hashedKey);
+
+  HashKey hash(const char* key) const;
+
+  int compare(const ValueInternalMap& other) const;
+
+private:
+  void makeBeginIterator(IteratorState& it) const;
+  void makeEndIterator(IteratorState& it) const;
+  static bool equals(const IteratorState& x, const IteratorState& other);
+  static void increment(IteratorState& iterator);
+  static void incrementBucket(IteratorState& iterator);
+  static void decrement(IteratorState& iterator);
+  static const char* key(const IteratorState& iterator);
+  static const char* key(const IteratorState& iterator, bool& isStatic);
+  static Value& value(const IteratorState& iterator);
+  static int distance(const IteratorState& x, const IteratorState& y);
+
+private:
+  ValueInternalLink* buckets_;
+  ValueInternalLink* tailLink_;
+  BucketIndex bucketsSize_;
+  BucketIndex itemCount_;
+};
+
+/** \brief A simplified deque implementation used internally by Value.
+* \internal
+* It is based on a list of fixed "page", each page contains a fixed number of
+*items.
+* Instead of using a linked-list, a array of pointer is used for fast item
+*look-up.
+* Look-up for an element is as follow:
+* - compute page index: pageIndex = itemIndex / itemsPerPage
+* - look-up item in page: pages_[pageIndex][itemIndex % itemsPerPage]
+*
+* Insertion is amortized constant time (only the array containing the index of
+*pointers
+* need to be reallocated when items are appended).
+*/
+class JSON_API ValueInternalArray {
+  friend class Value;
+  friend class ValueIteratorBase;
+
+public:
+  enum {
+    itemsPerPage = 8
+  }; // should be a power of 2 for fast divide and modulo.
+  typedef Value::ArrayIndex ArrayIndex;
+  typedef unsigned int PageIndex;
+
+#ifndef JSONCPP_DOC_EXCLUDE_IMPLEMENTATION
+  struct IteratorState // Must be a POD
+      {
+    IteratorState() : array_(0), currentPageIndex_(0), currentItemIndex_(0) {}
+    ValueInternalArray* array_;
+    Value** currentPageIndex_;
+    unsigned int currentItemIndex_;
+  };
+#endif // ifndef JSONCPP_DOC_EXCLUDE_IMPLEMENTATION
+
+  ValueInternalArray();
+  ValueInternalArray(const ValueInternalArray& other);
+  ValueInternalArray& operator=(ValueInternalArray other);
+  ~ValueInternalArray();
+  void swap(ValueInternalArray& other);
+
+  void clear();
+  void resize(ArrayIndex newSize);
+
+  Value& resolveReference(ArrayIndex index);
+
+  Value* find(ArrayIndex index) const;
+
+  ArrayIndex size() const;
+
+  int compare(const ValueInternalArray& other) const;
+
+private:
+  static bool equals(const IteratorState& x, const IteratorState& other);
+  static void increment(IteratorState& iterator);
+  static void decrement(IteratorState& iterator);
+  static Value& dereference(const IteratorState& iterator);
+  static Value& unsafeDereference(const IteratorState& iterator);
+  static int distance(const IteratorState& x, const IteratorState& y);
+  static ArrayIndex indexOf(const IteratorState& iterator);
+  void makeBeginIterator(IteratorState& it) const;
+  void makeEndIterator(IteratorState& it) const;
+  void makeIterator(IteratorState& it, ArrayIndex index) const;
+
+  void makeIndexValid(ArrayIndex index);
+
+  Value** pages_;
+  ArrayIndex size_;
+  PageIndex pageCount_;
+};
+
+/** \brief Experimental: do not use. Allocator to customize Value internal
+array.
+ * Below is an example of a simple implementation (actual implementation use
+ * memory pool).
+   \code
+class DefaultValueArrayAllocator : public ValueArrayAllocator
+{
+public: // overridden from ValueArrayAllocator
+virtual ~DefaultValueArrayAllocator()
+{
+}
+
+virtual ValueInternalArray *newArray()
+{
+   return new ValueInternalArray();
+}
+
+virtual ValueInternalArray *newArrayCopy( const ValueInternalArray &other )
+{
+   return new ValueInternalArray( other );
+}
+
+virtual void destruct( ValueInternalArray *array )
+{
+   delete array;
+}
+
+virtual void reallocateArrayPageIndex( Value **&indexes,
+                                       ValueInternalArray::PageIndex
+&indexCount,
+                                       ValueInternalArray::PageIndex
+minNewIndexCount )
+{
+   ValueInternalArray::PageIndex newIndexCount = (indexCount*3)/2 + 1;
+   if ( minNewIndexCount > newIndexCount )
+      newIndexCount = minNewIndexCount;
+   void *newIndexes = realloc( indexes, sizeof(Value*) * newIndexCount );
+   if ( !newIndexes )
+      throw std::bad_alloc();
+   indexCount = newIndexCount;
+   indexes = static_cast( newIndexes );
+}
+virtual void releaseArrayPageIndex( Value **indexes,
+                                    ValueInternalArray::PageIndex indexCount )
+{
+   if ( indexes )
+      free( indexes );
+}
+
+virtual Value *allocateArrayPage()
+{
+   return static_cast( malloc( sizeof(Value) *
+ValueInternalArray::itemsPerPage ) );
+}
+
+virtual void releaseArrayPage( Value *value )
+{
+   if ( value )
+      free( value );
+}
+};
+   \endcode
+ */
+class JSON_API ValueArrayAllocator {
+public:
+  virtual ~ValueArrayAllocator();
+  virtual ValueInternalArray* newArray() = 0;
+  virtual ValueInternalArray* newArrayCopy(const ValueInternalArray& other) = 0;
+  virtual void destructArray(ValueInternalArray* array) = 0;
+  /** \brief Reallocate array page index.
+   * Reallocates an array of pointer on each page.
+   * \param indexes [input] pointer on the current index. May be \c NULL.
+   *                [output] pointer on the new index of at least
+   *                         \a minNewIndexCount pages.
+   * \param indexCount [input] current number of pages in the index.
+   *                   [output] number of page the reallocated index can handle.
+   *                            \b MUST be >= \a minNewIndexCount.
+   * \param minNewIndexCount Minimum number of page the new index must be able
+   * to
+   *                         handle.
+   */
+  virtual void
+  reallocateArrayPageIndex(Value**& indexes,
+                           ValueInternalArray::PageIndex& indexCount,
+                           ValueInternalArray::PageIndex minNewIndexCount) = 0;
+  virtual void
+  releaseArrayPageIndex(Value** indexes,
+                        ValueInternalArray::PageIndex indexCount) = 0;
+  virtual Value* allocateArrayPage() = 0;
+  virtual void releaseArrayPage(Value* value) = 0;
+};
+#endif // #ifdef JSON_VALUE_USE_INTERNAL_MAP
+
+/** \brief base class for Value iterators.
+ *
+ */
+class JSON_API ValueIteratorBase {
+public:
+  typedef std::bidirectional_iterator_tag iterator_category;
+  typedef unsigned int size_t;
+  typedef int difference_type;
+  typedef ValueIteratorBase SelfType;
+
+  ValueIteratorBase();
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  explicit ValueIteratorBase(const Value::ObjectValues::iterator& current);
+#else
+  ValueIteratorBase(const ValueInternalArray::IteratorState& state);
+  ValueIteratorBase(const ValueInternalMap::IteratorState& state);
+#endif
+
+  bool operator==(const SelfType& other) const { return isEqual(other); }
+
+  bool operator!=(const SelfType& other) const { return !isEqual(other); }
+
+  difference_type operator-(const SelfType& other) const {
+    return computeDistance(other);
+  }
+
+  /// Return either the index or the member name of the referenced value as a
+  /// Value.
+  Value key() const;
+
+  /// Return the index of the referenced Value. -1 if it is not an arrayValue.
+  UInt index() const;
+
+  /// Return the member name of the referenced Value. "" if it is not an
+  /// objectValue.
+  const char* memberName() const;
+
+protected:
+  Value& deref() const;
+
+  void increment();
+
+  void decrement();
+
+  difference_type computeDistance(const SelfType& other) const;
+
+  bool isEqual(const SelfType& other) const;
+
+  void copy(const SelfType& other);
+
+private:
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  Value::ObjectValues::iterator current_;
+  // Indicates that iterator is for a null value.
+  bool isNull_;
+#else
+  union {
+    ValueInternalArray::IteratorState array_;
+    ValueInternalMap::IteratorState map_;
+  } iterator_;
+  bool isArray_;
+#endif
+};
+
+/** \brief const iterator for object and array value.
+ *
+ */
+class JSON_API ValueConstIterator : public ValueIteratorBase {
+  friend class Value;
+
+public:
+  typedef const Value value_type;
+  typedef unsigned int size_t;
+  typedef int difference_type;
+  typedef const Value& reference;
+  typedef const Value* pointer;
+  typedef ValueConstIterator SelfType;
+
+  ValueConstIterator();
+
+private:
+/*! \internal Use by Value to create an iterator.
+ */
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  explicit ValueConstIterator(const Value::ObjectValues::iterator& current);
+#else
+  ValueConstIterator(const ValueInternalArray::IteratorState& state);
+  ValueConstIterator(const ValueInternalMap::IteratorState& state);
+#endif
+public:
+  SelfType& operator=(const ValueIteratorBase& other);
+
+  SelfType operator++(int) {
+    SelfType temp(*this);
+    ++*this;
+    return temp;
+  }
+
+  SelfType operator--(int) {
+    SelfType temp(*this);
+    --*this;
+    return temp;
+  }
+
+  SelfType& operator--() {
+    decrement();
+    return *this;
+  }
+
+  SelfType& operator++() {
+    increment();
+    return *this;
+  }
+
+  reference operator*() const { return deref(); }
+
+  pointer operator->() const { return &deref(); }
+};
+
+/** \brief Iterator for object and array value.
+ */
+class JSON_API ValueIterator : public ValueIteratorBase {
+  friend class Value;
+
+public:
+  typedef Value value_type;
+  typedef unsigned int size_t;
+  typedef int difference_type;
+  typedef Value& reference;
+  typedef Value* pointer;
+  typedef ValueIterator SelfType;
+
+  ValueIterator();
+  ValueIterator(const ValueConstIterator& other);
+  ValueIterator(const ValueIterator& other);
+
+private:
+/*! \internal Use by Value to create an iterator.
+ */
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  explicit ValueIterator(const Value::ObjectValues::iterator& current);
+#else
+  ValueIterator(const ValueInternalArray::IteratorState& state);
+  ValueIterator(const ValueInternalMap::IteratorState& state);
+#endif
+public:
+  SelfType& operator=(const SelfType& other);
+
+  SelfType operator++(int) {
+    SelfType temp(*this);
+    ++*this;
+    return temp;
+  }
+
+  SelfType operator--(int) {
+    SelfType temp(*this);
+    --*this;
+    return temp;
+  }
+
+  SelfType& operator--() {
+    decrement();
+    return *this;
+  }
+
+  SelfType& operator++() {
+    increment();
+    return *this;
+  }
+
+  reference operator*() const { return deref(); }
+
+  pointer operator->() const { return &deref(); }
+};
+
+} // namespace Json
+} // namespace VA
+#if defined(JSONCPP_DISABLE_DLL_INTERFACE_WARNING)
+#pragma warning(pop)
+#endif // if defined(JSONCPP_DISABLE_DLL_INTERFACE_WARNING)
+
+#endif // CPPTL_JSON_H_INCLUDED
diff --git a/VrUtils/jsoncpp/json/version.h b/VrUtils/jsoncpp/json/version.h
new file mode 100644
index 0000000..ca5c283
--- /dev/null
+++ b/VrUtils/jsoncpp/json/version.h
@@ -0,0 +1,14 @@
+// DO NOT EDIT. This file is generated by CMake from  "version"
+// and "version.h.in" files.
+// Run CMake configure step to update it.
+#ifndef JSON_VERSION_H_INCLUDED
+# define JSON_VERSION_H_INCLUDED
+
+# define JSONCPP_VERSION_STRING "0.7.0"
+# define JSONCPP_VERSION_MAJOR 0
+# define JSONCPP_VERSION_MINOR 7
+# define JSONCPP_VERSION_PATCH 0
+# define JSONCPP_VERSION_QUALIFIER
+# define JSONCPP_VERSION_HEXA ((JSONCPP_VERSION_MAJOR << 24) | (JSONCPP_VERSION_MINOR << 16) | (JSONCPP_VERSION_PATCH << 8))
+
+#endif // JSON_VERSION_H_INCLUDED
diff --git a/VrUtils/jsoncpp/json/writer.h b/VrUtils/jsoncpp/json/writer.h
new file mode 100644
index 0000000..22dcfb4
--- /dev/null
+++ b/VrUtils/jsoncpp/json/writer.h
@@ -0,0 +1,214 @@
+// Copyright 2007-2010 Baptiste Lepilleur
+// Distributed under MIT license, or public domain if desired and
+// recognized in your jurisdiction.
+// See file LICENSE for detail or copy at http://jsoncpp.sourceforge.net/LICENSE
+
+#ifndef JSON_WRITER_H_INCLUDED
+#define JSON_WRITER_H_INCLUDED
+
+#if !defined(JSON_IS_AMALGAMATION)
+#include "value.h"
+#endif // if !defined(JSON_IS_AMALGAMATION)
+#include 
+#include 
+
+// Disable warning C4251: :  needs to have dll-interface to
+// be used by...
+#if defined(JSONCPP_DISABLE_DLL_INTERFACE_WARNING)
+#pragma warning(push)
+#pragma warning(disable : 4251)
+#endif // if defined(JSONCPP_DISABLE_DLL_INTERFACE_WARNING)
+
+namespace VA {
+namespace Json {
+
+class Value;
+
+/** \brief Abstract class for writers.
+ */
+class JSON_API Writer {
+public:
+  virtual ~Writer();
+
+  virtual std::string write(const Value& root) = 0;
+};
+
+/** \brief Outputs a Value in JSON format
+ *without formatting (not human friendly).
+ *
+ * The JSON document is written in a single line. It is not intended for 'human'
+ *consumption,
+ * but may be usefull to support feature such as RPC where bandwith is limited.
+ * \sa Reader, Value
+ */
+class JSON_API FastWriter : public Writer {
+public:
+  FastWriter();
+  virtual ~FastWriter() {}
+
+  void enableYAMLCompatibility();
+
+  /** \brief Drop the "null" string from the writer's output for nullValues.
+   * Strictly speaking, this is not valid JSON. But when the output is being
+   * fed to a browser's Javascript, it makes for smaller output and the
+   * browser can handle the output just fine.
+   */
+  void dropNullPlaceholders();
+
+  void omitEndingLineFeed();
+
+public: // overridden from Writer
+  virtual std::string write(const Value& root);
+
+private:
+  void writeValue(const Value& value);
+
+  std::string document_;
+  bool yamlCompatiblityEnabled_;
+  bool dropNullPlaceholders_;
+  bool omitEndingLineFeed_;
+};
+
+/** \brief Writes a Value in JSON format in a
+ *human friendly way.
+ *
+ * The rules for line break and indent are as follow:
+ * - Object value:
+ *     - if empty then print {} without indent and line break
+ *     - if not empty the print '{', line break & indent, print one value per
+ *line
+ *       and then unindent and line break and print '}'.
+ * - Array value:
+ *     - if empty then print [] without indent and line break
+ *     - if the array contains no object value, empty array or some other value
+ *types,
+ *       and all the values fit on one lines, then print the array on a single
+ *line.
+ *     - otherwise, it the values do not fit on one line, or the array contains
+ *       object or non empty array, then print one value per line.
+ *
+ * If the Value have comments then they are outputed according to their
+ *#CommentPlacement.
+ *
+ * \sa Reader, Value, Value::setComment()
+ */
+class JSON_API StyledWriter : public Writer {
+public:
+  StyledWriter();
+  virtual ~StyledWriter() {}
+
+public: // overridden from Writer
+  /** \brief Serialize a Value in JSON format.
+   * \param root Value to serialize.
+   * \return String containing the JSON document that represents the root value.
+   */
+  virtual std::string write(const Value& root);
+
+private:
+  void writeValue(const Value& value);
+  void writeArrayValue(const Value& value);
+  bool isMultineArray(const Value& value);
+  void pushValue(const std::string& value);
+  void writeIndent();
+  void writeWithIndent(const std::string& value);
+  void indent();
+  void unindent();
+  void writeCommentBeforeValue(const Value& root);
+  void writeCommentAfterValueOnSameLine(const Value& root);
+  bool hasCommentForValue(const Value& value);
+  static std::string normalizeEOL(const std::string& text);
+
+  typedef std::vector ChildValues;
+
+  ChildValues childValues_;
+  std::string document_;
+  std::string indentString_;
+  int rightMargin_;
+  int indentSize_;
+  bool addChildValues_;
+};
+
+/** \brief Writes a Value in JSON format in a
+ human friendly way,
+     to a stream rather than to a string.
+ *
+ * The rules for line break and indent are as follow:
+ * - Object value:
+ *     - if empty then print {} without indent and line break
+ *     - if not empty the print '{', line break & indent, print one value per
+ line
+ *       and then unindent and line break and print '}'.
+ * - Array value:
+ *     - if empty then print [] without indent and line break
+ *     - if the array contains no object value, empty array or some other value
+ types,
+ *       and all the values fit on one lines, then print the array on a single
+ line.
+ *     - otherwise, it the values do not fit on one line, or the array contains
+ *       object or non empty array, then print one value per line.
+ *
+ * If the Value have comments then they are outputed according to their
+ #CommentPlacement.
+ *
+ * \param indentation Each level will be indented by this amount extra.
+ * \sa Reader, Value, Value::setComment()
+ */
+class JSON_API StyledStreamWriter {
+public:
+  StyledStreamWriter(std::string indentation = "\t");
+  ~StyledStreamWriter() {}
+
+public:
+  /** \brief Serialize a Value in JSON format.
+   * \param out Stream to write to. (Can be ostringstream, e.g.)
+   * \param root Value to serialize.
+   * \note There is no point in deriving from Writer, since write() should not
+   * return a value.
+   */
+  void write(std::ostream& out, const Value& root);
+
+private:
+  void writeValue(const Value& value);
+  void writeArrayValue(const Value& value);
+  bool isMultineArray(const Value& value);
+  void pushValue(const std::string& value);
+  void writeIndent();
+  void writeWithIndent(const std::string& value);
+  void indent();
+  void unindent();
+  void writeCommentBeforeValue(const Value& root);
+  void writeCommentAfterValueOnSameLine(const Value& root);
+  bool hasCommentForValue(const Value& value);
+  static std::string normalizeEOL(const std::string& text);
+
+  typedef std::vector ChildValues;
+
+  ChildValues childValues_;
+  std::ostream* document_;
+  std::string indentString_;
+  int rightMargin_;
+  std::string indentation_;
+  bool addChildValues_;
+};
+
+#if defined(JSON_HAS_INT64)
+std::string JSON_API valueToString(Int value);
+std::string JSON_API valueToString(UInt value);
+#endif // if defined(JSON_HAS_INT64)
+std::string JSON_API valueToString(LargestInt value);
+std::string JSON_API valueToString(LargestUInt value);
+std::string JSON_API valueToString(double value);
+std::string JSON_API valueToString(bool value);
+std::string JSON_API valueToQuotedString(const char* value);
+
+/// \brief Output using the StyledStreamWriter.
+/// \see Json::operator>>()
+JSON_API std::ostream& operator<<(std::ostream&, const Value& root);
+
+} // namespace Json
+} // namespace VA
+#if defined(JSONCPP_DISABLE_DLL_INTERFACE_WARNING)
+#pragma warning(pop)
+#endif // if defined(JSONCPP_DISABLE_DLL_INTERFACE_WARNING)
+
+#endif // JSON_WRITER_H_INCLUDED
diff --git a/VrUtils/jsoncpp/json_batchallocator.h b/VrUtils/jsoncpp/json_batchallocator.h
new file mode 100644
index 0000000..ddae908
--- /dev/null
+++ b/VrUtils/jsoncpp/json_batchallocator.h
@@ -0,0 +1,123 @@
+// Copyright 2007-2010 Baptiste Lepilleur
+// Distributed under MIT license, or public domain if desired and
+// recognized in your jurisdiction.
+// See file LICENSE for detail or copy at http://jsoncpp.sourceforge.net/LICENSE
+
+#ifndef JSONCPP_BATCHALLOCATOR_H_INCLUDED
+#define JSONCPP_BATCHALLOCATOR_H_INCLUDED
+
+#include 
+#include 
+
+#ifndef JSONCPP_DOC_EXCLUDE_IMPLEMENTATION
+
+namespace VA {
+namespace Json {
+
+/* Fast memory allocator.
+ *
+ * This memory allocator allocates memory for a batch of object (specified by
+ * the page size, the number of object in each page).
+ *
+ * It does not allow the destruction of a single object. All the allocated
+ * objects can be destroyed at once. The memory can be either released or reused
+ * for future allocation.
+ *
+ * The in-place new operator must be used to construct the object using the
+ * pointer returned by allocate.
+ */
+template 
+class BatchAllocator {
+public:
+  BatchAllocator(unsigned int objectsPerPage = 255)
+      : freeHead_(0), objectsPerPage_(objectsPerPage) {
+    //      printf( "Size: %d => %s\n", sizeof(AllocatedType),
+    // typeid(AllocatedType).name() );
+    assert(sizeof(AllocatedType) * objectPerAllocation >=
+           sizeof(AllocatedType*)); // We must be able to store a slist in the
+                                    // object free space.
+    assert(objectsPerPage >= 16);
+    batches_ = allocateBatch(0); // allocated a dummy page
+    currentBatch_ = batches_;
+  }
+
+  ~BatchAllocator() {
+    for (BatchInfo* batch = batches_; batch;) {
+      BatchInfo* nextBatch = batch->next_;
+      free(batch);
+      batch = nextBatch;
+    }
+  }
+
+  /// allocate space for an array of objectPerAllocation object.
+  /// @warning it is the responsability of the caller to call objects
+  /// constructors.
+  AllocatedType* allocate() {
+    if (freeHead_) // returns node from free list.
+    {
+      AllocatedType* object = freeHead_;
+      freeHead_ = *(AllocatedType**)object;
+      return object;
+    }
+    if (currentBatch_->used_ == currentBatch_->end_) {
+      currentBatch_ = currentBatch_->next_;
+      while (currentBatch_ && currentBatch_->used_ == currentBatch_->end_)
+        currentBatch_ = currentBatch_->next_;
+
+      if (!currentBatch_) // no free batch found, allocate a new one
+      {
+        currentBatch_ = allocateBatch(objectsPerPage_);
+        currentBatch_->next_ = batches_; // insert at the head of the list
+        batches_ = currentBatch_;
+      }
+    }
+    AllocatedType* allocated = currentBatch_->used_;
+    currentBatch_->used_ += objectPerAllocation;
+    return allocated;
+  }
+
+  /// Release the object.
+  /// @warning it is the responsability of the caller to actually destruct the
+  /// object.
+  void release(AllocatedType* object) {
+    assert(object != 0);
+    *(AllocatedType**)object = freeHead_;
+    freeHead_ = object;
+  }
+
+private:
+  struct BatchInfo {
+    BatchInfo* next_;
+    AllocatedType* used_;
+    AllocatedType* end_;
+    AllocatedType buffer_[objectPerAllocation];
+  };
+
+  // disabled copy constructor and assignement operator.
+  BatchAllocator(const BatchAllocator&);
+  void operator=(const BatchAllocator&);
+
+  static BatchInfo* allocateBatch(unsigned int objectsPerPage) {
+    const unsigned int mallocSize =
+        sizeof(BatchInfo) - sizeof(AllocatedType) * objectPerAllocation +
+        sizeof(AllocatedType) * objectPerAllocation * objectsPerPage;
+    BatchInfo* batch = static_cast(malloc(mallocSize));
+    batch->next_ = 0;
+    batch->used_ = batch->buffer_;
+    batch->end_ = batch->buffer_ + objectsPerPage;
+    return batch;
+  }
+
+  BatchInfo* batches_;
+  BatchInfo* currentBatch_;
+  /// Head of a single linked list within the allocated space of freeed object
+  AllocatedType* freeHead_;
+  unsigned int objectsPerPage_;
+};
+
+} // namespace Json
+} // namespace VA
+
+#endif // ifndef JSONCPP_DOC_INCLUDE_IMPLEMENTATION
+
+#endif // JSONCPP_BATCHALLOCATOR_H_INCLUDED
diff --git a/VrUtils/jsoncpp/json_internalarray.inl b/VrUtils/jsoncpp/json_internalarray.inl
new file mode 100644
index 0000000..9ee15e9
--- /dev/null
+++ b/VrUtils/jsoncpp/json_internalarray.inl
@@ -0,0 +1,360 @@
+// Copyright 2007-2010 Baptiste Lepilleur
+// Distributed under MIT license, or public domain if desired and
+// recognized in your jurisdiction.
+// See file LICENSE for detail or copy at http://jsoncpp.sourceforge.net/LICENSE
+
+// included by json_value.cpp
+
+namespace Json {
+
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// class ValueInternalArray
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+
+ValueArrayAllocator::~ValueArrayAllocator() {}
+
+// //////////////////////////////////////////////////////////////////
+// class DefaultValueArrayAllocator
+// //////////////////////////////////////////////////////////////////
+#ifdef JSON_USE_SIMPLE_INTERNAL_ALLOCATOR
+class DefaultValueArrayAllocator : public ValueArrayAllocator {
+public: // overridden from ValueArrayAllocator
+  virtual ~DefaultValueArrayAllocator() {}
+
+  virtual ValueInternalArray* newArray() { return new ValueInternalArray(); }
+
+  virtual ValueInternalArray* newArrayCopy(const ValueInternalArray& other) {
+    return new ValueInternalArray(other);
+  }
+
+  virtual void destructArray(ValueInternalArray* array) { delete array; }
+
+  virtual void
+  reallocateArrayPageIndex(Value**& indexes,
+                           ValueInternalArray::PageIndex& indexCount,
+                           ValueInternalArray::PageIndex minNewIndexCount) {
+    ValueInternalArray::PageIndex newIndexCount = (indexCount * 3) / 2 + 1;
+    if (minNewIndexCount > newIndexCount)
+      newIndexCount = minNewIndexCount;
+    void* newIndexes = realloc(indexes, sizeof(Value*) * newIndexCount);
+    JSON_ASSERT_MESSAGE(newIndexes, "Couldn't realloc.");
+    indexCount = newIndexCount;
+    indexes = static_cast(newIndexes);
+  }
+  virtual void releaseArrayPageIndex(Value** indexes,
+                                     ValueInternalArray::PageIndex indexCount) {
+    if (indexes)
+      free(indexes);
+  }
+
+  virtual Value* allocateArrayPage() {
+    return static_cast(
+        malloc(sizeof(Value) * ValueInternalArray::itemsPerPage));
+  }
+
+  virtual void releaseArrayPage(Value* value) {
+    if (value)
+      free(value);
+  }
+};
+
+#else  // #ifdef JSON_USE_SIMPLE_INTERNAL_ALLOCATOR
+/// @todo make this thread-safe (lock when accessign batch allocator)
+class DefaultValueArrayAllocator : public ValueArrayAllocator {
+public: // overridden from ValueArrayAllocator
+  virtual ~DefaultValueArrayAllocator() {}
+
+  virtual ValueInternalArray* newArray() {
+    ValueInternalArray* array = arraysAllocator_.allocate();
+    new (array) ValueInternalArray(); // placement new
+    return array;
+  }
+
+  virtual ValueInternalArray* newArrayCopy(const ValueInternalArray& other) {
+    ValueInternalArray* array = arraysAllocator_.allocate();
+    new (array) ValueInternalArray(other); // placement new
+    return array;
+  }
+
+  virtual void destructArray(ValueInternalArray* array) {
+    if (array) {
+      array->~ValueInternalArray();
+      arraysAllocator_.release(array);
+    }
+  }
+
+  virtual void
+  reallocateArrayPageIndex(Value**& indexes,
+                           ValueInternalArray::PageIndex& indexCount,
+                           ValueInternalArray::PageIndex minNewIndexCount) {
+    ValueInternalArray::PageIndex newIndexCount = (indexCount * 3) / 2 + 1;
+    if (minNewIndexCount > newIndexCount)
+      newIndexCount = minNewIndexCount;
+    void* newIndexes = realloc(indexes, sizeof(Value*) * newIndexCount);
+    JSON_ASSERT_MESSAGE(newIndexes, "Couldn't realloc.");
+    indexCount = newIndexCount;
+    indexes = static_cast(newIndexes);
+  }
+  virtual void releaseArrayPageIndex(Value** indexes,
+                                     ValueInternalArray::PageIndex indexCount) {
+    if (indexes)
+      free(indexes);
+  }
+
+  virtual Value* allocateArrayPage() {
+    return static_cast(pagesAllocator_.allocate());
+  }
+
+  virtual void releaseArrayPage(Value* value) {
+    if (value)
+      pagesAllocator_.release(value);
+  }
+
+private:
+  BatchAllocator arraysAllocator_;
+  BatchAllocator pagesAllocator_;
+};
+#endif // #ifdef JSON_USE_SIMPLE_INTERNAL_ALLOCATOR
+
+static ValueArrayAllocator*& arrayAllocator() {
+  static DefaultValueArrayAllocator defaultAllocator;
+  static ValueArrayAllocator* arrayAllocator = &defaultAllocator;
+  return arrayAllocator;
+}
+
+static struct DummyArrayAllocatorInitializer {
+  DummyArrayAllocatorInitializer() {
+    arrayAllocator(); // ensure arrayAllocator() statics are initialized before
+                      // main().
+  }
+} dummyArrayAllocatorInitializer;
+
+// //////////////////////////////////////////////////////////////////
+// class ValueInternalArray
+// //////////////////////////////////////////////////////////////////
+bool ValueInternalArray::equals(const IteratorState& x,
+                                const IteratorState& other) {
+  return x.array_ == other.array_ &&
+         x.currentItemIndex_ == other.currentItemIndex_ &&
+         x.currentPageIndex_ == other.currentPageIndex_;
+}
+
+void ValueInternalArray::increment(IteratorState& it) {
+  JSON_ASSERT_MESSAGE(
+      it.array_ && (it.currentPageIndex_ - it.array_->pages_) * itemsPerPage +
+                           it.currentItemIndex_ !=
+                       it.array_->size_,
+      "ValueInternalArray::increment(): moving iterator beyond end");
+  ++(it.currentItemIndex_);
+  if (it.currentItemIndex_ == itemsPerPage) {
+    it.currentItemIndex_ = 0;
+    ++(it.currentPageIndex_);
+  }
+}
+
+void ValueInternalArray::decrement(IteratorState& it) {
+  JSON_ASSERT_MESSAGE(
+      it.array_ && it.currentPageIndex_ == it.array_->pages_ &&
+          it.currentItemIndex_ == 0,
+      "ValueInternalArray::decrement(): moving iterator beyond end");
+  if (it.currentItemIndex_ == 0) {
+    it.currentItemIndex_ = itemsPerPage - 1;
+    --(it.currentPageIndex_);
+  } else {
+    --(it.currentItemIndex_);
+  }
+}
+
+Value& ValueInternalArray::unsafeDereference(const IteratorState& it) {
+  return (*(it.currentPageIndex_))[it.currentItemIndex_];
+}
+
+Value& ValueInternalArray::dereference(const IteratorState& it) {
+  JSON_ASSERT_MESSAGE(
+      it.array_ && (it.currentPageIndex_ - it.array_->pages_) * itemsPerPage +
+                           it.currentItemIndex_ <
+                       it.array_->size_,
+      "ValueInternalArray::dereference(): dereferencing invalid iterator");
+  return unsafeDereference(it);
+}
+
+void ValueInternalArray::makeBeginIterator(IteratorState& it) const {
+  it.array_ = const_cast(this);
+  it.currentItemIndex_ = 0;
+  it.currentPageIndex_ = pages_;
+}
+
+void ValueInternalArray::makeIterator(IteratorState& it,
+                                      ArrayIndex index) const {
+  it.array_ = const_cast(this);
+  it.currentItemIndex_ = index % itemsPerPage;
+  it.currentPageIndex_ = pages_ + index / itemsPerPage;
+}
+
+void ValueInternalArray::makeEndIterator(IteratorState& it) const {
+  makeIterator(it, size_);
+}
+
+ValueInternalArray::ValueInternalArray() : pages_(0), size_(0), pageCount_(0) {}
+
+ValueInternalArray::ValueInternalArray(const ValueInternalArray& other)
+    : pages_(0), size_(other.size_), pageCount_(0) {
+  PageIndex minNewPages = other.size_ / itemsPerPage;
+  arrayAllocator()->reallocateArrayPageIndex(pages_, pageCount_, minNewPages);
+  JSON_ASSERT_MESSAGE(pageCount_ >= minNewPages,
+                      "ValueInternalArray::reserve(): bad reallocation");
+  IteratorState itOther;
+  other.makeBeginIterator(itOther);
+  Value* value;
+  for (ArrayIndex index = 0; index < size_; ++index, increment(itOther)) {
+    if (index % itemsPerPage == 0) {
+      PageIndex pageIndex = index / itemsPerPage;
+      value = arrayAllocator()->allocateArrayPage();
+      pages_[pageIndex] = value;
+    }
+    new (value) Value(dereference(itOther));
+  }
+}
+
+ValueInternalArray& ValueInternalArray::operator=(ValueInternalArray other) {
+  swap(other);
+  return *this;
+}
+
+ValueInternalArray::~ValueInternalArray() {
+  // destroy all constructed items
+  IteratorState it;
+  IteratorState itEnd;
+  makeBeginIterator(it);
+  makeEndIterator(itEnd);
+  for (; !equals(it, itEnd); increment(it)) {
+    Value* value = &dereference(it);
+    value->~Value();
+  }
+  // release all pages
+  PageIndex lastPageIndex = size_ / itemsPerPage;
+  for (PageIndex pageIndex = 0; pageIndex < lastPageIndex; ++pageIndex)
+    arrayAllocator()->releaseArrayPage(pages_[pageIndex]);
+  // release pages index
+  arrayAllocator()->releaseArrayPageIndex(pages_, pageCount_);
+}
+
+void ValueInternalArray::swap(ValueInternalArray& other) {
+  Value** tempPages = pages_;
+  pages_ = other.pages_;
+  other.pages_ = tempPages;
+  ArrayIndex tempSize = size_;
+  size_ = other.size_;
+  other.size_ = tempSize;
+  PageIndex tempPageCount = pageCount_;
+  pageCount_ = other.pageCount_;
+  other.pageCount_ = tempPageCount;
+}
+
+void ValueInternalArray::clear() {
+  ValueInternalArray dummy;
+  swap(dummy);
+}
+
+void ValueInternalArray::resize(ArrayIndex newSize) {
+  if (newSize == 0)
+    clear();
+  else if (newSize < size_) {
+    IteratorState it;
+    IteratorState itEnd;
+    makeIterator(it, newSize);
+    makeIterator(itEnd, size_);
+    for (; !equals(it, itEnd); increment(it)) {
+      Value* value = &dereference(it);
+      value->~Value();
+    }
+    PageIndex pageIndex = (newSize + itemsPerPage - 1) / itemsPerPage;
+    PageIndex lastPageIndex = size_ / itemsPerPage;
+    for (; pageIndex < lastPageIndex; ++pageIndex)
+      arrayAllocator()->releaseArrayPage(pages_[pageIndex]);
+    size_ = newSize;
+  } else if (newSize > size_)
+    resolveReference(newSize);
+}
+
+void ValueInternalArray::makeIndexValid(ArrayIndex index) {
+  // Need to enlarge page index ?
+  if (index >= pageCount_ * itemsPerPage) {
+    PageIndex minNewPages = (index + 1) / itemsPerPage;
+    arrayAllocator()->reallocateArrayPageIndex(pages_, pageCount_, minNewPages);
+    JSON_ASSERT_MESSAGE(pageCount_ >= minNewPages,
+                        "ValueInternalArray::reserve(): bad reallocation");
+  }
+
+  // Need to allocate new pages ?
+  ArrayIndex nextPageIndex = (size_ % itemsPerPage) != 0
+                                 ? size_ - (size_ % itemsPerPage) + itemsPerPage
+                                 : size_;
+  if (nextPageIndex <= index) {
+    PageIndex pageIndex = nextPageIndex / itemsPerPage;
+    PageIndex pageToAllocate = (index - nextPageIndex) / itemsPerPage + 1;
+    for (; pageToAllocate-- > 0; ++pageIndex)
+      pages_[pageIndex] = arrayAllocator()->allocateArrayPage();
+  }
+
+  // Initialize all new entries
+  IteratorState it;
+  IteratorState itEnd;
+  makeIterator(it, size_);
+  size_ = index + 1;
+  makeIterator(itEnd, size_);
+  for (; !equals(it, itEnd); increment(it)) {
+    Value* value = &dereference(it);
+    new (value) Value(); // Construct a default value using placement new
+  }
+}
+
+Value& ValueInternalArray::resolveReference(ArrayIndex index) {
+  if (index >= size_)
+    makeIndexValid(index);
+  return pages_[index / itemsPerPage][index % itemsPerPage];
+}
+
+Value* ValueInternalArray::find(ArrayIndex index) const {
+  if (index >= size_)
+    return 0;
+  return &(pages_[index / itemsPerPage][index % itemsPerPage]);
+}
+
+ValueInternalArray::ArrayIndex ValueInternalArray::size() const {
+  return size_;
+}
+
+int ValueInternalArray::distance(const IteratorState& x,
+                                 const IteratorState& y) {
+  return indexOf(y) - indexOf(x);
+}
+
+ValueInternalArray::ArrayIndex
+ValueInternalArray::indexOf(const IteratorState& iterator) {
+  if (!iterator.array_)
+    return ArrayIndex(-1);
+  return ArrayIndex((iterator.currentPageIndex_ - iterator.array_->pages_) *
+                        itemsPerPage +
+                    iterator.currentItemIndex_);
+}
+
+int ValueInternalArray::compare(const ValueInternalArray& other) const {
+  int sizeDiff(size_ - other.size_);
+  if (sizeDiff != 0)
+    return sizeDiff;
+
+  for (ArrayIndex index = 0; index < size_; ++index) {
+    int diff = pages_[index / itemsPerPage][index % itemsPerPage].compare(
+        other.pages_[index / itemsPerPage][index % itemsPerPage]);
+    if (diff != 0)
+      return diff;
+  }
+  return 0;
+}
+
+} // namespace Json
diff --git a/VrUtils/jsoncpp/json_internalmap.inl b/VrUtils/jsoncpp/json_internalmap.inl
new file mode 100644
index 0000000..ef3f330
--- /dev/null
+++ b/VrUtils/jsoncpp/json_internalmap.inl
@@ -0,0 +1,473 @@
+// Copyright 2007-2010 Baptiste Lepilleur
+// Distributed under MIT license, or public domain if desired and
+// recognized in your jurisdiction.
+// See file LICENSE for detail or copy at http://jsoncpp.sourceforge.net/LICENSE
+
+// included by json_value.cpp
+
+namespace Json {
+
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// class ValueInternalMap
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+
+/** \internal MUST be safely initialized using memset( this, 0,
+ * sizeof(ValueInternalLink) );
+   * This optimization is used by the fast allocator.
+   */
+ValueInternalLink::ValueInternalLink() : previous_(0), next_(0) {}
+
+ValueInternalLink::~ValueInternalLink() {
+  for (int index = 0; index < itemPerLink; ++index) {
+    if (!items_[index].isItemAvailable()) {
+      if (!items_[index].isMemberNameStatic())
+        free(keys_[index]);
+    } else
+      break;
+  }
+}
+
+ValueMapAllocator::~ValueMapAllocator() {}
+
+#ifdef JSON_USE_SIMPLE_INTERNAL_ALLOCATOR
+class DefaultValueMapAllocator : public ValueMapAllocator {
+public: // overridden from ValueMapAllocator
+  virtual ValueInternalMap* newMap() { return new ValueInternalMap(); }
+
+  virtual ValueInternalMap* newMapCopy(const ValueInternalMap& other) {
+    return new ValueInternalMap(other);
+  }
+
+  virtual void destructMap(ValueInternalMap* map) { delete map; }
+
+  virtual ValueInternalLink* allocateMapBuckets(unsigned int size) {
+    return new ValueInternalLink[size];
+  }
+
+  virtual void releaseMapBuckets(ValueInternalLink* links) { delete[] links; }
+
+  virtual ValueInternalLink* allocateMapLink() {
+    return new ValueInternalLink();
+  }
+
+  virtual void releaseMapLink(ValueInternalLink* link) { delete link; }
+};
+#else
+/// @todo make this thread-safe (lock when accessign batch allocator)
+class DefaultValueMapAllocator : public ValueMapAllocator {
+public: // overridden from ValueMapAllocator
+  virtual ValueInternalMap* newMap() {
+    ValueInternalMap* map = mapsAllocator_.allocate();
+    new (map) ValueInternalMap(); // placement new
+    return map;
+  }
+
+  virtual ValueInternalMap* newMapCopy(const ValueInternalMap& other) {
+    ValueInternalMap* map = mapsAllocator_.allocate();
+    new (map) ValueInternalMap(other); // placement new
+    return map;
+  }
+
+  virtual void destructMap(ValueInternalMap* map) {
+    if (map) {
+      map->~ValueInternalMap();
+      mapsAllocator_.release(map);
+    }
+  }
+
+  virtual ValueInternalLink* allocateMapBuckets(unsigned int size) {
+    return new ValueInternalLink[size];
+  }
+
+  virtual void releaseMapBuckets(ValueInternalLink* links) { delete[] links; }
+
+  virtual ValueInternalLink* allocateMapLink() {
+    ValueInternalLink* link = linksAllocator_.allocate();
+    memset(link, 0, sizeof(ValueInternalLink));
+    return link;
+  }
+
+  virtual void releaseMapLink(ValueInternalLink* link) {
+    link->~ValueInternalLink();
+    linksAllocator_.release(link);
+  }
+
+private:
+  BatchAllocator mapsAllocator_;
+  BatchAllocator linksAllocator_;
+};
+#endif
+
+static ValueMapAllocator*& mapAllocator() {
+  static DefaultValueMapAllocator defaultAllocator;
+  static ValueMapAllocator* mapAllocator = &defaultAllocator;
+  return mapAllocator;
+}
+
+static struct DummyMapAllocatorInitializer {
+  DummyMapAllocatorInitializer() {
+    mapAllocator(); // ensure mapAllocator() statics are initialized before
+                    // main().
+  }
+} dummyMapAllocatorInitializer;
+
+// h(K) = value * K >> w ; with w = 32 & K prime w.r.t. 2^32.
+
+/*
+use linked list hash map.
+buckets array is a container.
+linked list element contains 6 key/values. (memory = (16+4) * 6 + 4 = 124)
+value have extra state: valid, available, deleted
+*/
+
+ValueInternalMap::ValueInternalMap()
+    : buckets_(0), tailLink_(0), bucketsSize_(0), itemCount_(0) {}
+
+ValueInternalMap::ValueInternalMap(const ValueInternalMap& other)
+    : buckets_(0), tailLink_(0), bucketsSize_(0), itemCount_(0) {
+  reserve(other.itemCount_);
+  IteratorState it;
+  IteratorState itEnd;
+  other.makeBeginIterator(it);
+  other.makeEndIterator(itEnd);
+  for (; !equals(it, itEnd); increment(it)) {
+    bool isStatic;
+    const char* memberName = key(it, isStatic);
+    const Value& aValue = value(it);
+    resolveReference(memberName, isStatic) = aValue;
+  }
+}
+
+ValueInternalMap& ValueInternalMap::operator=(ValueInternalMap other) {
+  swap(other);
+  return *this;
+}
+
+ValueInternalMap::~ValueInternalMap() {
+  if (buckets_) {
+    for (BucketIndex bucketIndex = 0; bucketIndex < bucketsSize_;
+         ++bucketIndex) {
+      ValueInternalLink* link = buckets_[bucketIndex].next_;
+      while (link) {
+        ValueInternalLink* linkToRelease = link;
+        link = link->next_;
+        mapAllocator()->releaseMapLink(linkToRelease);
+      }
+    }
+    mapAllocator()->releaseMapBuckets(buckets_);
+  }
+}
+
+void ValueInternalMap::swap(ValueInternalMap& other) {
+  ValueInternalLink* tempBuckets = buckets_;
+  buckets_ = other.buckets_;
+  other.buckets_ = tempBuckets;
+  ValueInternalLink* tempTailLink = tailLink_;
+  tailLink_ = other.tailLink_;
+  other.tailLink_ = tempTailLink;
+  BucketIndex tempBucketsSize = bucketsSize_;
+  bucketsSize_ = other.bucketsSize_;
+  other.bucketsSize_ = tempBucketsSize;
+  BucketIndex tempItemCount = itemCount_;
+  itemCount_ = other.itemCount_;
+  other.itemCount_ = tempItemCount;
+}
+
+void ValueInternalMap::clear() {
+  ValueInternalMap dummy;
+  swap(dummy);
+}
+
+ValueInternalMap::BucketIndex ValueInternalMap::size() const {
+  return itemCount_;
+}
+
+bool ValueInternalMap::reserveDelta(BucketIndex growth) {
+  return reserve(itemCount_ + growth);
+}
+
+bool ValueInternalMap::reserve(BucketIndex newItemCount) {
+  if (!buckets_ && newItemCount > 0) {
+    buckets_ = mapAllocator()->allocateMapBuckets(1);
+    bucketsSize_ = 1;
+    tailLink_ = &buckets_[0];
+  }
+  //   BucketIndex idealBucketCount = (newItemCount +
+  // ValueInternalLink::itemPerLink) / ValueInternalLink::itemPerLink;
+  return true;
+}
+
+const Value* ValueInternalMap::find(const char* key) const {
+  if (!bucketsSize_)
+    return 0;
+  HashKey hashedKey = hash(key);
+  BucketIndex bucketIndex = hashedKey % bucketsSize_;
+  for (const ValueInternalLink* current = &buckets_[bucketIndex]; current != 0;
+       current = current->next_) {
+    for (BucketIndex index = 0; index < ValueInternalLink::itemPerLink;
+         ++index) {
+      if (current->items_[index].isItemAvailable())
+        return 0;
+      if (strcmp(key, current->keys_[index]) == 0)
+        return ¤t->items_[index];
+    }
+  }
+  return 0;
+}
+
+Value* ValueInternalMap::find(const char* key) {
+  const ValueInternalMap* constThis = this;
+  return const_cast(constThis->find(key));
+}
+
+Value& ValueInternalMap::resolveReference(const char* key, bool isStatic) {
+  HashKey hashedKey = hash(key);
+  if (bucketsSize_) {
+    BucketIndex bucketIndex = hashedKey % bucketsSize_;
+    ValueInternalLink** previous = 0;
+    BucketIndex index;
+    for (ValueInternalLink* current = &buckets_[bucketIndex]; current != 0;
+         previous = ¤t->next_, current = current->next_) {
+      for (index = 0; index < ValueInternalLink::itemPerLink; ++index) {
+        if (current->items_[index].isItemAvailable())
+          return setNewItem(key, isStatic, current, index);
+        if (strcmp(key, current->keys_[index]) == 0)
+          return current->items_[index];
+      }
+    }
+  }
+
+  reserveDelta(1);
+  return unsafeAdd(key, isStatic, hashedKey);
+}
+
+void ValueInternalMap::remove(const char* key) {
+  HashKey hashedKey = hash(key);
+  if (!bucketsSize_)
+    return;
+  BucketIndex bucketIndex = hashedKey % bucketsSize_;
+  for (ValueInternalLink* link = &buckets_[bucketIndex]; link != 0;
+       link = link->next_) {
+    BucketIndex index;
+    for (index = 0; index < ValueInternalLink::itemPerLink; ++index) {
+      if (link->items_[index].isItemAvailable())
+        return;
+      if (strcmp(key, link->keys_[index]) == 0) {
+        doActualRemove(link, index, bucketIndex);
+        return;
+      }
+    }
+  }
+}
+
+void ValueInternalMap::doActualRemove(ValueInternalLink* link,
+                                      BucketIndex index,
+                                      BucketIndex bucketIndex) {
+  // find last item of the bucket and swap it with the 'removed' one.
+  // set removed items flags to 'available'.
+  // if last page only contains 'available' items, then desallocate it (it's
+  // empty)
+  ValueInternalLink*& lastLink = getLastLinkInBucket(index);
+  BucketIndex lastItemIndex = 1; // a link can never be empty, so start at 1
+  for (; lastItemIndex < ValueInternalLink::itemPerLink;
+       ++lastItemIndex) // may be optimized with dicotomic search
+  {
+    if (lastLink->items_[lastItemIndex].isItemAvailable())
+      break;
+  }
+
+  BucketIndex lastUsedIndex = lastItemIndex - 1;
+  Value* valueToDelete = &link->items_[index];
+  Value* valueToPreserve = &lastLink->items_[lastUsedIndex];
+  if (valueToDelete != valueToPreserve)
+    valueToDelete->swap(*valueToPreserve);
+  if (lastUsedIndex == 0) // page is now empty
+  {                       // remove it from bucket linked list and delete it.
+    ValueInternalLink* linkPreviousToLast = lastLink->previous_;
+    if (linkPreviousToLast != 0) // can not deleted bucket link.
+    {
+      mapAllocator()->releaseMapLink(lastLink);
+      linkPreviousToLast->next_ = 0;
+      lastLink = linkPreviousToLast;
+    }
+  } else {
+    Value dummy;
+    valueToPreserve->swap(dummy); // restore deleted to default Value.
+    valueToPreserve->setItemUsed(false);
+  }
+  --itemCount_;
+}
+
+ValueInternalLink*&
+ValueInternalMap::getLastLinkInBucket(BucketIndex bucketIndex) {
+  if (bucketIndex == bucketsSize_ - 1)
+    return tailLink_;
+  ValueInternalLink*& previous = buckets_[bucketIndex + 1].previous_;
+  if (!previous)
+    previous = &buckets_[bucketIndex];
+  return previous;
+}
+
+Value& ValueInternalMap::setNewItem(const char* key,
+                                    bool isStatic,
+                                    ValueInternalLink* link,
+                                    BucketIndex index) {
+  char* duplicatedKey = makeMemberName(key);
+  ++itemCount_;
+  link->keys_[index] = duplicatedKey;
+  link->items_[index].setItemUsed();
+  link->items_[index].setMemberNameIsStatic(isStatic);
+  return link->items_[index]; // items already default constructed.
+}
+
+Value&
+ValueInternalMap::unsafeAdd(const char* key, bool isStatic, HashKey hashedKey) {
+  JSON_ASSERT_MESSAGE(bucketsSize_ > 0,
+                      "ValueInternalMap::unsafeAdd(): internal logic error.");
+  BucketIndex bucketIndex = hashedKey % bucketsSize_;
+  ValueInternalLink*& previousLink = getLastLinkInBucket(bucketIndex);
+  ValueInternalLink* link = previousLink;
+  BucketIndex index;
+  for (index = 0; index < ValueInternalLink::itemPerLink; ++index) {
+    if (link->items_[index].isItemAvailable())
+      break;
+  }
+  if (index == ValueInternalLink::itemPerLink) // need to add a new page
+  {
+    ValueInternalLink* newLink = mapAllocator()->allocateMapLink();
+    index = 0;
+    link->next_ = newLink;
+    previousLink = newLink;
+    link = newLink;
+  }
+  return setNewItem(key, isStatic, link, index);
+}
+
+ValueInternalMap::HashKey ValueInternalMap::hash(const char* key) const {
+  HashKey hash = 0;
+  while (*key)
+    hash += *key++ * 37;
+  return hash;
+}
+
+int ValueInternalMap::compare(const ValueInternalMap& other) const {
+  int sizeDiff(itemCount_ - other.itemCount_);
+  if (sizeDiff != 0)
+    return sizeDiff;
+  // Strict order guaranty is required. Compare all keys FIRST, then compare
+  // values.
+  IteratorState it;
+  IteratorState itEnd;
+  makeBeginIterator(it);
+  makeEndIterator(itEnd);
+  for (; !equals(it, itEnd); increment(it)) {
+    if (!other.find(key(it)))
+      return 1;
+  }
+
+  // All keys are equals, let's compare values
+  makeBeginIterator(it);
+  for (; !equals(it, itEnd); increment(it)) {
+    const Value* otherValue = other.find(key(it));
+    int valueDiff = value(it).compare(*otherValue);
+    if (valueDiff != 0)
+      return valueDiff;
+  }
+  return 0;
+}
+
+void ValueInternalMap::makeBeginIterator(IteratorState& it) const {
+  it.map_ = const_cast(this);
+  it.bucketIndex_ = 0;
+  it.itemIndex_ = 0;
+  it.link_ = buckets_;
+}
+
+void ValueInternalMap::makeEndIterator(IteratorState& it) const {
+  it.map_ = const_cast(this);
+  it.bucketIndex_ = bucketsSize_;
+  it.itemIndex_ = 0;
+  it.link_ = 0;
+}
+
+bool ValueInternalMap::equals(const IteratorState& x,
+                              const IteratorState& other) {
+  return x.map_ == other.map_ && x.bucketIndex_ == other.bucketIndex_ &&
+         x.link_ == other.link_ && x.itemIndex_ == other.itemIndex_;
+}
+
+void ValueInternalMap::incrementBucket(IteratorState& iterator) {
+  ++iterator.bucketIndex_;
+  JSON_ASSERT_MESSAGE(
+      iterator.bucketIndex_ <= iterator.map_->bucketsSize_,
+      "ValueInternalMap::increment(): attempting to iterate beyond end.");
+  if (iterator.bucketIndex_ == iterator.map_->bucketsSize_)
+    iterator.link_ = 0;
+  else
+    iterator.link_ = &(iterator.map_->buckets_[iterator.bucketIndex_]);
+  iterator.itemIndex_ = 0;
+}
+
+void ValueInternalMap::increment(IteratorState& iterator) {
+  JSON_ASSERT_MESSAGE(iterator.map_,
+                      "Attempting to iterator using invalid iterator.");
+  ++iterator.itemIndex_;
+  if (iterator.itemIndex_ == ValueInternalLink::itemPerLink) {
+    JSON_ASSERT_MESSAGE(
+        iterator.link_ != 0,
+        "ValueInternalMap::increment(): attempting to iterate beyond end.");
+    iterator.link_ = iterator.link_->next_;
+    if (iterator.link_ == 0)
+      incrementBucket(iterator);
+  } else if (iterator.link_->items_[iterator.itemIndex_].isItemAvailable()) {
+    incrementBucket(iterator);
+  }
+}
+
+void ValueInternalMap::decrement(IteratorState& iterator) {
+  if (iterator.itemIndex_ == 0) {
+    JSON_ASSERT_MESSAGE(iterator.map_,
+                        "Attempting to iterate using invalid iterator.");
+    if (iterator.link_ == &iterator.map_->buckets_[iterator.bucketIndex_]) {
+      JSON_ASSERT_MESSAGE(iterator.bucketIndex_ > 0,
+                          "Attempting to iterate beyond beginning.");
+      --(iterator.bucketIndex_);
+    }
+    iterator.link_ = iterator.link_->previous_;
+    iterator.itemIndex_ = ValueInternalLink::itemPerLink - 1;
+  }
+}
+
+const char* ValueInternalMap::key(const IteratorState& iterator) {
+  JSON_ASSERT_MESSAGE(iterator.link_,
+                      "Attempting to iterate using invalid iterator.");
+  return iterator.link_->keys_[iterator.itemIndex_];
+}
+
+const char* ValueInternalMap::key(const IteratorState& iterator,
+                                  bool& isStatic) {
+  JSON_ASSERT_MESSAGE(iterator.link_,
+                      "Attempting to iterate using invalid iterator.");
+  isStatic = iterator.link_->items_[iterator.itemIndex_].isMemberNameStatic();
+  return iterator.link_->keys_[iterator.itemIndex_];
+}
+
+Value& ValueInternalMap::value(const IteratorState& iterator) {
+  JSON_ASSERT_MESSAGE(iterator.link_,
+                      "Attempting to iterate using invalid iterator.");
+  return iterator.link_->items_[iterator.itemIndex_];
+}
+
+int ValueInternalMap::distance(const IteratorState& x, const IteratorState& y) {
+  int offset = 0;
+  IteratorState it = x;
+  while (!equals(it, y))
+    increment(it);
+  return offset;
+}
+
+} // namespace Json
diff --git a/VrUtils/jsoncpp/json_reader.cpp b/VrUtils/jsoncpp/json_reader.cpp
new file mode 100644
index 0000000..cec44af
--- /dev/null
+++ b/VrUtils/jsoncpp/json_reader.cpp
@@ -0,0 +1,887 @@
+// Copyright 2007-2011 Baptiste Lepilleur
+// Distributed under MIT license, or public domain if desired and
+// recognized in your jurisdiction.
+// See file LICENSE for detail or copy at http://jsoncpp.sourceforge.net/LICENSE
+
+#if !defined(JSON_IS_AMALGAMATION)
+#include "json/assertions.h"
+#include "json/reader.h"
+#include "json/value.h"
+#include "json_tool.h"
+#endif // if !defined(JSON_IS_AMALGAMATION)
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#if defined(_MSC_VER) && _MSC_VER < 1500 // VC++ 8.0 and below
+#define snprintf _snprintf
+#endif
+
+#if defined(_MSC_VER) && _MSC_VER >= 1400 // VC++ 8.0
+// Disable warning about strdup being deprecated.
+#pragma warning(disable : 4996)
+#endif
+
+namespace VA {
+namespace Json {
+
+// Implementation of class Features
+// ////////////////////////////////
+
+Features::Features()
+    : allowComments_(true), strictRoot_(false),
+      allowDroppedNullPlaceholders_(false), allowNumericKeys_(false) {}
+
+Features Features::all() { return Features(); }
+
+Features Features::strictMode() {
+  Features features;
+  features.allowComments_ = false;
+  features.strictRoot_ = true;
+  features.allowDroppedNullPlaceholders_ = false;
+  features.allowNumericKeys_ = false;
+  return features;
+}
+
+// Implementation of class Reader
+// ////////////////////////////////
+
+static inline bool in(Reader::Char c,
+                      Reader::Char c1,
+                      Reader::Char c2,
+                      Reader::Char c3,
+                      Reader::Char c4) {
+  return c == c1 || c == c2 || c == c3 || c == c4;
+}
+
+static inline bool in(Reader::Char c,
+                      Reader::Char c1,
+                      Reader::Char c2,
+                      Reader::Char c3,
+                      Reader::Char c4,
+                      Reader::Char c5) {
+  return c == c1 || c == c2 || c == c3 || c == c4 || c == c5;
+}
+
+static bool containsNewLine(Reader::Location begin, Reader::Location end) {
+  for (; begin < end; ++begin)
+    if (*begin == '\n' || *begin == '\r')
+      return true;
+  return false;
+}
+
+// Class Reader
+// //////////////////////////////////////////////////////////////////
+
+Reader::Reader()
+    : errors_(), document_(), begin_(), end_(), current_(), lastValueEnd_(),
+      lastValue_(), commentsBefore_(), features_(Features::all()),
+      collectComments_() {}
+
+Reader::Reader(const Features& features)
+    : errors_(), document_(), begin_(), end_(), current_(), lastValueEnd_(),
+      lastValue_(), commentsBefore_(), features_(features), collectComments_() {
+}
+
+bool
+Reader::parse(const std::string& document, Value& root, bool collectComments) {
+  document_ = document;
+  const char* begin = document_.c_str();
+  const char* end = begin + document_.length();
+  return parse(begin, end, root, collectComments);
+}
+
+bool Reader::parse(std::istream& sin, Value& root, bool collectComments) {
+  // std::istream_iterator begin(sin);
+  // std::istream_iterator end;
+  // Those would allow streamed input from a file, if parse() were a
+  // template function.
+
+  // Since std::string is reference-counted, this at least does not
+  // create an extra copy.
+  std::string doc;
+  std::getline(sin, doc, (char)EOF);
+  return parse(doc, root, collectComments);
+}
+
+bool Reader::parse(const char* beginDoc,
+                   const char* endDoc,
+                   Value& root,
+                   bool collectComments) {
+  if (!features_.allowComments_) {
+    collectComments = false;
+  }
+
+  begin_ = beginDoc;
+  end_ = endDoc;
+  collectComments_ = collectComments;
+  current_ = begin_;
+  lastValueEnd_ = 0;
+  lastValue_ = 0;
+  commentsBefore_ = "";
+  errors_.clear();
+  while (!nodes_.empty())
+    nodes_.pop();
+  nodes_.push(&root);
+
+  bool successful = readValue();
+  Token token;
+  skipCommentTokens(token);
+  if (collectComments_ && !commentsBefore_.empty())
+    root.setComment(commentsBefore_, commentAfter);
+  if (features_.strictRoot_) {
+    if (!root.isArray() && !root.isObject()) {
+      // Set error location to start of doc, ideally should be first token found
+      // in doc
+      token.type_ = tokenError;
+      token.start_ = beginDoc;
+      token.end_ = endDoc;
+      addError(
+          "A valid JSON document must be either an array or an object value.",
+          token);
+      return false;
+    }
+  }
+  return successful;
+}
+
+bool Reader::readValue() {
+  Token token;
+  skipCommentTokens(token);
+  bool successful = true;
+
+  if (collectComments_ && !commentsBefore_.empty()) {
+    // Remove newline characters at the end of the comments
+    size_t lastNonNewline = commentsBefore_.find_last_not_of("\r\n");
+    if (lastNonNewline != std::string::npos) {
+      commentsBefore_.erase(lastNonNewline + 1);
+    } else {
+      commentsBefore_.clear();
+    }
+
+    currentValue().setComment(commentsBefore_, commentBefore);
+    commentsBefore_ = "";
+  }
+
+  switch (token.type_) {
+  case tokenObjectBegin:
+    successful = readObject(token);
+    currentValue().setOffsetLimit(current_ - begin_);
+    break;
+  case tokenArrayBegin:
+    successful = readArray(token);
+    currentValue().setOffsetLimit(current_ - begin_);
+    break;
+  case tokenNumber:
+    successful = decodeNumber(token);
+    break;
+  case tokenString:
+    successful = decodeString(token);
+    break;
+  case tokenTrue:
+    currentValue() = true;
+    currentValue().setOffsetStart(token.start_ - begin_);
+    currentValue().setOffsetLimit(token.end_ - begin_);
+    break;
+  case tokenFalse:
+    currentValue() = false;
+    currentValue().setOffsetStart(token.start_ - begin_);
+    currentValue().setOffsetLimit(token.end_ - begin_);
+    break;
+  case tokenNull:
+    currentValue() = Value();
+    currentValue().setOffsetStart(token.start_ - begin_);
+    currentValue().setOffsetLimit(token.end_ - begin_);
+    break;
+  case tokenArraySeparator:
+    if (features_.allowDroppedNullPlaceholders_) {
+      // "Un-read" the current token and mark the current value as a null
+      // token.
+      current_--;
+      currentValue() = Value();
+      currentValue().setOffsetStart(current_ - begin_ - 1);
+      currentValue().setOffsetLimit(current_ - begin_);
+      break;
+    }
+  // Else, fall through...
+  default:
+    currentValue().setOffsetStart(token.start_ - begin_);
+    currentValue().setOffsetLimit(token.end_ - begin_);
+    return addError("Syntax error: value, object or array expected.", token);
+  }
+
+  if (collectComments_) {
+    lastValueEnd_ = current_;
+    lastValue_ = ¤tValue();
+  }
+
+  return successful;
+}
+
+void Reader::skipCommentTokens(Token& token) {
+  if (features_.allowComments_) {
+    do {
+      readToken(token);
+    } while (token.type_ == tokenComment);
+  } else {
+    readToken(token);
+  }
+}
+
+bool Reader::expectToken(TokenType type, Token& token, const char* message) {
+  readToken(token);
+  if (token.type_ != type)
+    return addError(message, token);
+  return true;
+}
+
+bool Reader::readToken(Token& token) {
+  skipSpaces();
+  token.start_ = current_;
+  Char c = getNextChar();
+  bool ok = true;
+  switch (c) {
+  case '{':
+    token.type_ = tokenObjectBegin;
+    break;
+  case '}':
+    token.type_ = tokenObjectEnd;
+    break;
+  case '[':
+    token.type_ = tokenArrayBegin;
+    break;
+  case ']':
+    token.type_ = tokenArrayEnd;
+    break;
+  case '"':
+    token.type_ = tokenString;
+    ok = readString();
+    break;
+  case '/':
+    token.type_ = tokenComment;
+    ok = readComment();
+    break;
+  case '0':
+  case '1':
+  case '2':
+  case '3':
+  case '4':
+  case '5':
+  case '6':
+  case '7':
+  case '8':
+  case '9':
+  case '-':
+    token.type_ = tokenNumber;
+    readNumber();
+    break;
+  case 't':
+    token.type_ = tokenTrue;
+    ok = match("rue", 3);
+    break;
+  case 'f':
+    token.type_ = tokenFalse;
+    ok = match("alse", 4);
+    break;
+  case 'n':
+    token.type_ = tokenNull;
+    ok = match("ull", 3);
+    break;
+  case ',':
+    token.type_ = tokenArraySeparator;
+    break;
+  case ':':
+    token.type_ = tokenMemberSeparator;
+    break;
+  case 0:
+    token.type_ = tokenEndOfStream;
+    break;
+  default:
+    ok = false;
+    break;
+  }
+  if (!ok)
+    token.type_ = tokenError;
+  token.end_ = current_;
+  return true;
+}
+
+void Reader::skipSpaces() {
+  while (current_ != end_) {
+    Char c = *current_;
+    if (c == ' ' || c == '\t' || c == '\r' || c == '\n')
+      ++current_;
+    else
+      break;
+  }
+}
+
+bool Reader::match(Location pattern, int patternLength) {
+  if (end_ - current_ < patternLength)
+    return false;
+  int index = patternLength;
+  while (index--)
+    if (current_[index] != pattern[index])
+      return false;
+  current_ += patternLength;
+  return true;
+}
+
+bool Reader::readComment() {
+  Location commentBegin = current_ - 1;
+  Char c = getNextChar();
+  bool successful = false;
+  if (c == '*')
+    successful = readCStyleComment();
+  else if (c == '/')
+    successful = readCppStyleComment();
+  if (!successful)
+    return false;
+
+  if (collectComments_) {
+    CommentPlacement placement = commentBefore;
+    if (lastValueEnd_ && !containsNewLine(lastValueEnd_, commentBegin)) {
+      if (c != '*' || !containsNewLine(commentBegin, current_))
+        placement = commentAfterOnSameLine;
+    }
+
+    addComment(commentBegin, current_, placement);
+  }
+  return true;
+}
+
+void
+Reader::addComment(Location begin, Location end, CommentPlacement placement) {
+  assert(collectComments_);
+  if (placement == commentAfterOnSameLine) {
+    assert(lastValue_ != 0);
+    lastValue_->setComment(std::string(begin, end), placement);
+  } else {
+    commentsBefore_ += std::string(begin, end);
+  }
+}
+
+bool Reader::readCStyleComment() {
+  while (current_ != end_) {
+    Char c = getNextChar();
+    if (c == '*' && *current_ == '/')
+      break;
+  }
+  return getNextChar() == '/';
+}
+
+bool Reader::readCppStyleComment() {
+  while (current_ != end_) {
+    Char c = getNextChar();
+    if (c == '\r' || c == '\n')
+      break;
+  }
+  return true;
+}
+
+void Reader::readNumber() {
+  while (current_ != end_) {
+    if (!(*current_ >= '0' && *current_ <= '9') &&
+        !in(*current_, '.', 'e', 'E', '+', '-'))
+      break;
+    ++current_;
+  }
+}
+
+bool Reader::readString() {
+  Char c = 0;
+  while (current_ != end_) {
+    c = getNextChar();
+    if (c == '\\')
+      getNextChar();
+    else if (c == '"')
+      break;
+  }
+  return c == '"';
+}
+
+bool Reader::readObject(Token& tokenStart) {
+  Token tokenName;
+  std::string name;
+  currentValue() = Value(objectValue);
+  currentValue().setOffsetStart(tokenStart.start_ - begin_);
+  while (readToken(tokenName)) {
+    bool initialTokenOk = true;
+    while (tokenName.type_ == tokenComment && initialTokenOk)
+      initialTokenOk = readToken(tokenName);
+    if (!initialTokenOk)
+      break;
+    if (tokenName.type_ == tokenObjectEnd && name.empty()) // empty object
+      return true;
+    name = "";
+    if (tokenName.type_ == tokenString) {
+      if (!decodeString(tokenName, name))
+        return recoverFromError(tokenObjectEnd);
+    } else if (tokenName.type_ == tokenNumber && features_.allowNumericKeys_) {
+      Value numberName;
+      if (!decodeNumber(tokenName, numberName))
+        return recoverFromError(tokenObjectEnd);
+      name = numberName.asString();
+    } else {
+      break;
+    }
+
+    Token colon;
+    if (!readToken(colon) || colon.type_ != tokenMemberSeparator) {
+      return addErrorAndRecover(
+          "Missing ':' after object member name", colon, tokenObjectEnd);
+    }
+    Value& value = currentValue()[name];
+    nodes_.push(&value);
+    bool ok = readValue();
+    nodes_.pop();
+    if (!ok) // error already set
+      return recoverFromError(tokenObjectEnd);
+
+    Token comma;
+    if (!readToken(comma) ||
+        (comma.type_ != tokenObjectEnd && comma.type_ != tokenArraySeparator &&
+         comma.type_ != tokenComment)) {
+      return addErrorAndRecover(
+          "Missing ',' or '}' in object declaration", comma, tokenObjectEnd);
+    }
+    bool finalizeTokenOk = true;
+    while (comma.type_ == tokenComment && finalizeTokenOk)
+      finalizeTokenOk = readToken(comma);
+    if (comma.type_ == tokenObjectEnd)
+      return true;
+  }
+  return addErrorAndRecover(
+      "Missing '}' or object member name", tokenName, tokenObjectEnd);
+}
+
+bool Reader::readArray(Token& tokenStart) {
+  currentValue() = Value(arrayValue);
+  currentValue().setOffsetStart(tokenStart.start_ - begin_);
+  skipSpaces();
+  if (*current_ == ']') // empty array
+  {
+    Token endArray;
+    readToken(endArray);
+    return true;
+  }
+  int index = 0;
+  for (;;) {
+    Value& value = currentValue()[index++];
+    nodes_.push(&value);
+    bool ok = readValue();
+    nodes_.pop();
+    if (!ok) // error already set
+      return recoverFromError(tokenArrayEnd);
+
+    Token token;
+    // Accept Comment after last item in the array.
+    ok = readToken(token);
+    while (token.type_ == tokenComment && ok) {
+      ok = readToken(token);
+    }
+    bool badTokenType =
+        (token.type_ != tokenArraySeparator && token.type_ != tokenArrayEnd);
+    if (!ok || badTokenType) {
+      return addErrorAndRecover(
+          "Missing ',' or ']' in array declaration", token, tokenArrayEnd);
+    }
+    if (token.type_ == tokenArrayEnd)
+      break;
+  }
+  return true;
+}
+
+bool Reader::decodeNumber(Token& token) {
+  Value decoded;
+  if (!decodeNumber(token, decoded))
+    return false;
+  currentValue() = decoded;
+  currentValue().setOffsetStart(token.start_ - begin_);
+  currentValue().setOffsetLimit(token.end_ - begin_);
+  return true;
+}
+
+bool Reader::decodeNumber(Token& token, Value& decoded) {
+  bool isDouble = false;
+  for (Location inspect = token.start_; inspect != token.end_; ++inspect) {
+    isDouble = isDouble || in(*inspect, '.', 'e', 'E', '+') ||
+               (*inspect == '-' && inspect != token.start_);
+  }
+  if (isDouble)
+    return decodeDouble(token, decoded);
+  // Attempts to parse the number as an integer. If the number is
+  // larger than the maximum supported value of an integer then
+  // we decode the number as a double.
+  Location current = token.start_;
+  bool isNegative = *current == '-';
+  if (isNegative)
+    ++current;
+  Value::LargestUInt maxIntegerValue =
+      isNegative ? Value::LargestUInt(-Value::minLargestInt)
+                 : Value::maxLargestUInt;
+  Value::LargestUInt threshold = maxIntegerValue / 10;
+  Value::LargestUInt value = 0;
+  while (current < token.end_) {
+    Char c = *current++;
+    if (c < '0' || c > '9')
+      return addError("'" + std::string(token.start_, token.end_) +
+                          "' is not a number.",
+                      token);
+    Value::UInt digit(c - '0');
+    if (value >= threshold) {
+      // We've hit or exceeded the max value divided by 10 (rounded down). If
+      // a) we've only just touched the limit, b) this is the last digit, and
+      // c) it's small enough to fit in that rounding delta, we're okay.
+      // Otherwise treat this number as a double to avoid overflow.
+      if (value > threshold || current != token.end_ ||
+          digit > maxIntegerValue % 10) {
+        return decodeDouble(token, decoded);
+      }
+    }
+    value = value * 10 + digit;
+  }
+  if (isNegative)
+    decoded = -Value::LargestInt(value);
+  else if (value <= Value::LargestUInt(Value::maxInt))
+    decoded = Value::LargestInt(value);
+  else
+    decoded = value;
+  return true;
+}
+
+bool Reader::decodeDouble(Token& token) {
+  Value decoded;
+  if (!decodeDouble(token, decoded))
+    return false;
+  currentValue() = decoded;
+  currentValue().setOffsetStart(token.start_ - begin_);
+  currentValue().setOffsetLimit(token.end_ - begin_);
+  return true;
+}
+
+bool Reader::decodeDouble(Token& token, Value& decoded) {
+  double value = 0;
+  const int bufferSize = 32;
+  int count;
+  int length = int(token.end_ - token.start_);
+
+  // Sanity check to avoid buffer overflow exploits.
+  if (length < 0) {
+    return addError("Unable to parse token length", token);
+  }
+
+  // Avoid using a string constant for the format control string given to
+  // sscanf, as this can cause hard to debug crashes on OS X. See here for more
+  // info:
+  //
+  //     http://developer.apple.com/library/mac/#DOCUMENTATION/DeveloperTools/gcc-4.0.1/gcc/Incompatibilities.html
+  char format[] = "%lf";
+
+  if (length <= bufferSize) {
+    Char buffer[bufferSize + 1];
+    memcpy(buffer, token.start_, length);
+    buffer[length] = 0;
+    count = sscanf(buffer, format, &value);
+  } else {
+    std::string buffer(token.start_, token.end_);
+    count = sscanf(buffer.c_str(), format, &value);
+  }
+
+  if (count != 1)
+    return addError("'" + std::string(token.start_, token.end_) +
+                        "' is not a number.",
+                    token);
+  decoded = value;
+  return true;
+}
+
+bool Reader::decodeString(Token& token) {
+  std::string decoded;
+  if (!decodeString(token, decoded))
+    return false;
+  currentValue() = decoded;
+  currentValue().setOffsetStart(token.start_ - begin_);
+  currentValue().setOffsetLimit(token.end_ - begin_);
+  return true;
+}
+
+bool Reader::decodeString(Token& token, std::string& decoded) {
+  decoded.reserve(token.end_ - token.start_ - 2);
+  Location current = token.start_ + 1; // skip '"'
+  Location end = token.end_ - 1;       // do not include '"'
+  while (current != end) {
+    Char c = *current++;
+    if (c == '"')
+      break;
+    else if (c == '\\') {
+      if (current == end)
+        return addError("Empty escape sequence in string", token, current);
+      Char escape = *current++;
+      switch (escape) {
+      case '"':
+        decoded += '"';
+        break;
+      case '/':
+        decoded += '/';
+        break;
+      case '\\':
+        decoded += '\\';
+        break;
+      case 'b':
+        decoded += '\b';
+        break;
+      case 'f':
+        decoded += '\f';
+        break;
+      case 'n':
+        decoded += '\n';
+        break;
+      case 'r':
+        decoded += '\r';
+        break;
+      case 't':
+        decoded += '\t';
+        break;
+      case 'u': {
+        unsigned int unicode;
+        if (!decodeUnicodeCodePoint(token, current, end, unicode))
+          return false;
+        decoded += codePointToUTF8(unicode);
+      } break;
+      default:
+        return addError("Bad escape sequence in string", token, current);
+      }
+    } else {
+      decoded += c;
+    }
+  }
+  return true;
+}
+
+bool Reader::decodeUnicodeCodePoint(Token& token,
+                                    Location& current,
+                                    Location end,
+                                    unsigned int& unicode) {
+
+  if (!decodeUnicodeEscapeSequence(token, current, end, unicode))
+    return false;
+  if (unicode >= 0xD800 && unicode <= 0xDBFF) {
+    // surrogate pairs
+    if (end - current < 6)
+      return addError(
+          "additional six characters expected to parse unicode surrogate pair.",
+          token,
+          current);
+    unsigned int surrogatePair;
+    if (*(current++) == '\\' && *(current++) == 'u') {
+      if (decodeUnicodeEscapeSequence(token, current, end, surrogatePair)) {
+        unicode = 0x10000 + ((unicode & 0x3FF) << 10) + (surrogatePair & 0x3FF);
+      } else
+        return false;
+    } else
+      return addError("expecting another \\u token to begin the second half of "
+                      "a unicode surrogate pair",
+                      token,
+                      current);
+  }
+  return true;
+}
+
+bool Reader::decodeUnicodeEscapeSequence(Token& token,
+                                         Location& current,
+                                         Location end,
+                                         unsigned int& unicode) {
+  if (end - current < 4)
+    return addError(
+        "Bad unicode escape sequence in string: four digits expected.",
+        token,
+        current);
+  unicode = 0;
+  for (int index = 0; index < 4; ++index) {
+    Char c = *current++;
+    unicode *= 16;
+    if (c >= '0' && c <= '9')
+      unicode += c - '0';
+    else if (c >= 'a' && c <= 'f')
+      unicode += c - 'a' + 10;
+    else if (c >= 'A' && c <= 'F')
+      unicode += c - 'A' + 10;
+    else
+      return addError(
+          "Bad unicode escape sequence in string: hexadecimal digit expected.",
+          token,
+          current);
+  }
+  return true;
+}
+
+bool
+Reader::addError(const std::string& message, Token& token, Location extra) {
+  ErrorInfo info;
+  info.token_ = token;
+  info.message_ = message;
+  info.extra_ = extra;
+  errors_.push_back(info);
+  return false;
+}
+
+bool Reader::recoverFromError(TokenType skipUntilToken) {
+  int errorCount = int(errors_.size());
+  Token skip;
+  for (;;) {
+    if (!readToken(skip))
+      errors_.resize(errorCount); // discard errors caused by recovery
+    if (skip.type_ == skipUntilToken || skip.type_ == tokenEndOfStream)
+      break;
+  }
+  errors_.resize(errorCount);
+  return false;
+}
+
+bool Reader::addErrorAndRecover(const std::string& message,
+                                Token& token,
+                                TokenType skipUntilToken) {
+  addError(message, token);
+  return recoverFromError(skipUntilToken);
+}
+
+Value& Reader::currentValue() { return *(nodes_.top()); }
+
+Reader::Char Reader::getNextChar() {
+  if (current_ == end_)
+    return 0;
+  return *current_++;
+}
+
+void Reader::getLocationLineAndColumn(Location location,
+                                      int& line,
+                                      int& column) const {
+  Location current = begin_;
+  Location lastLineStart = current;
+  line = 0;
+  while (current < location && current != end_) {
+    Char c = *current++;
+    if (c == '\r') {
+      if (*current == '\n')
+        ++current;
+      lastLineStart = current;
+      ++line;
+    } else if (c == '\n') {
+      lastLineStart = current;
+      ++line;
+    }
+  }
+  // column & line start at 1
+  column = int(location - lastLineStart) + 1;
+  ++line;
+}
+
+std::string Reader::getLocationLineAndColumn(Location location) const {
+  int line, column;
+  getLocationLineAndColumn(location, line, column);
+  char buffer[18 + 16 + 16 + 1];
+#if defined(_MSC_VER) && defined(__STDC_SECURE_LIB__)
+#if defined(WINCE)
+  _snprintf(buffer, sizeof(buffer), "Line %d, Column %d", line, column);
+#else
+  sprintf_s(buffer, sizeof(buffer), "Line %d, Column %d", line, column);
+#endif
+#else
+  snprintf(buffer, sizeof(buffer), "Line %d, Column %d", line, column);
+#endif
+  return buffer;
+}
+
+// Deprecated. Preserved for backward compatibility
+std::string Reader::getFormatedErrorMessages() const {
+  return getFormattedErrorMessages();
+}
+
+std::string Reader::getFormattedErrorMessages() const {
+  std::string formattedMessage;
+  for (Errors::const_iterator itError = errors_.begin();
+       itError != errors_.end();
+       ++itError) {
+    const ErrorInfo& error = *itError;
+    formattedMessage +=
+        "* " + getLocationLineAndColumn(error.token_.start_) + "\n";
+    formattedMessage += "  " + error.message_ + "\n";
+    if (error.extra_)
+      formattedMessage +=
+          "See " + getLocationLineAndColumn(error.extra_) + " for detail.\n";
+  }
+  return formattedMessage;
+}
+
+std::vector Reader::getStructuredErrors() const {
+  std::vector allErrors;
+  for (Errors::const_iterator itError = errors_.begin();
+       itError != errors_.end();
+       ++itError) {
+    const ErrorInfo& error = *itError;
+    Reader::StructuredError structured;
+    structured.offset_start = error.token_.start_ - begin_;
+    structured.offset_limit = error.token_.end_ - begin_;
+    structured.message = error.message_;
+    allErrors.push_back(structured);
+  }
+  return allErrors;
+}
+
+bool Reader::pushError(const Value& value, const std::string& message) {
+  if(value.getOffsetStart() > (size_t)end_ - (size_t)begin_
+    || value.getOffsetLimit() > (size_t)end_ - (size_t)begin_)
+    return false;
+  Token token;
+  token.type_ = tokenError;
+  token.start_ = begin_ + value.getOffsetStart();
+  token.end_ = end_ + value.getOffsetLimit();
+  ErrorInfo info;
+  info.token_ = token;
+  info.message_ = message;
+  info.extra_ = 0;
+  errors_.push_back(info);
+  return true;
+}
+
+bool Reader::pushError(const Value& value, const std::string& message, const Value& extra) {
+  if(value.getOffsetStart() > (size_t)end_ - (size_t)begin_
+    || value.getOffsetLimit() > (size_t)end_ - (size_t)begin_
+    || extra.getOffsetLimit() > (size_t)end_ - (size_t)begin_)
+    return false;
+  Token token;
+  token.type_ = tokenError;
+  token.start_ = begin_ + value.getOffsetStart();
+  token.end_ = begin_ + value.getOffsetLimit();
+  ErrorInfo info;
+  info.token_ = token;
+  info.message_ = message;
+  info.extra_ = begin_ + extra.getOffsetStart();
+  errors_.push_back(info);
+  return true;
+}
+
+bool Reader::good() const {
+  return !errors_.size();
+}
+
+std::istream& operator>>(std::istream& sin, Value& root) {
+  Json::Reader reader;
+  bool ok = reader.parse(sin, root, true);
+  if (!ok) {
+    fprintf(stderr,
+            "Error from reader: %s",
+            reader.getFormattedErrorMessages().c_str());
+
+    JSON_FAIL_MESSAGE("reader error");
+  }
+  return sin;
+}
+
+} // namespace Json
+} // namespace VA
diff --git a/VrUtils/jsoncpp/json_tool.h b/VrUtils/jsoncpp/json_tool.h
new file mode 100644
index 0000000..043c35e
--- /dev/null
+++ b/VrUtils/jsoncpp/json_tool.h
@@ -0,0 +1,89 @@
+// Copyright 2007-2010 Baptiste Lepilleur
+// Distributed under MIT license, or public domain if desired and
+// recognized in your jurisdiction.
+// See file LICENSE for detail or copy at http://jsoncpp.sourceforge.net/LICENSE
+
+#ifndef LIB_JSONCPP_JSON_TOOL_H_INCLUDED
+#define LIB_JSONCPP_JSON_TOOL_H_INCLUDED
+
+/* This header provides common string manipulation support, such as UTF-8,
+ * portable conversion from/to string...
+ *
+ * It is an internal header that must not be exposed.
+ */
+
+namespace VA {
+namespace Json {
+
+/// Converts a unicode code-point to UTF-8.
+static inline std::string codePointToUTF8(unsigned int cp) {
+  std::string result;
+
+  // based on description from http://en.wikipedia.org/wiki/UTF-8
+
+  if (cp <= 0x7f) {
+    result.resize(1);
+    result[0] = static_cast(cp);
+  } else if (cp <= 0x7FF) {
+    result.resize(2);
+    result[1] = static_cast(0x80 | (0x3f & cp));
+    result[0] = static_cast(0xC0 | (0x1f & (cp >> 6)));
+  } else if (cp <= 0xFFFF) {
+    result.resize(3);
+    result[2] = static_cast(0x80 | (0x3f & cp));
+    result[1] = 0x80 | static_cast((0x3f & (cp >> 6)));
+    result[0] = 0xE0 | static_cast((0xf & (cp >> 12)));
+  } else if (cp <= 0x10FFFF) {
+    result.resize(4);
+    result[3] = static_cast(0x80 | (0x3f & cp));
+    result[2] = static_cast(0x80 | (0x3f & (cp >> 6)));
+    result[1] = static_cast(0x80 | (0x3f & (cp >> 12)));
+    result[0] = static_cast(0xF0 | (0x7 & (cp >> 18)));
+  }
+
+  return result;
+}
+
+/// Returns true if ch is a control character (in range [0,32[).
+static inline bool isControlCharacter(char ch) { return ch > 0 && ch <= 0x1F; }
+
+enum {
+  /// Constant that specify the size of the buffer that must be passed to
+  /// uintToString.
+  uintToStringBufferSize = 3 * sizeof(LargestUInt) + 1
+};
+
+// Defines a char buffer for use with uintToString().
+typedef char UIntToStringBuffer[uintToStringBufferSize];
+
+/** Converts an unsigned integer to string.
+ * @param value Unsigned interger to convert to string
+ * @param current Input/Output string buffer.
+ *        Must have at least uintToStringBufferSize chars free.
+ */
+static inline void uintToString(LargestUInt value, char*& current) {
+  *--current = 0;
+  do {
+    *--current = char(value % 10) + '0';
+    value /= 10;
+  } while (value != 0);
+}
+
+/** Change ',' to '.' everywhere in buffer.
+ *
+ * We had a sophisticated way, but it did not work in WinCE.
+ * @see https://github.com/open-source-parsers/jsoncpp/pull/9
+ */
+static inline void fixNumericLocale(char* begin, char* end) {
+  while (begin < end) {
+    if (*begin == ',') {
+      *begin = '.';
+    }
+    ++begin;
+  }
+}
+
+} // namespace Json {
+} // namespace VA
+
+#endif // LIB_JSONCPP_JSON_TOOL_H_INCLUDED
diff --git a/VrUtils/jsoncpp/json_value.cpp b/VrUtils/jsoncpp/json_value.cpp
new file mode 100644
index 0000000..eb9873b
--- /dev/null
+++ b/VrUtils/jsoncpp/json_value.cpp
@@ -0,0 +1,1480 @@
+// Copyright 2011 Baptiste Lepilleur
+// Distributed under MIT license, or public domain if desired and
+// recognized in your jurisdiction.
+// See file LICENSE for detail or copy at http://jsoncpp.sourceforge.net/LICENSE
+
+#if !defined(JSON_IS_AMALGAMATION)
+#include "json/assertions.h"
+#include "json/value.h"
+#include "json/writer.h"
+#ifndef JSON_USE_SIMPLE_INTERNAL_ALLOCATOR
+#include "json_batchallocator.h"
+#endif // #ifndef JSON_USE_SIMPLE_INTERNAL_ALLOCATOR
+#endif // if !defined(JSON_IS_AMALGAMATION)
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#ifdef JSON_USE_CPPTL
+#include 
+#endif
+#include  // size_t
+
+#define JSON_ASSERT_UNREACHABLE assert(false)
+namespace VA {
+namespace Json {
+
+// This is a walkaround to avoid the static initialization of Value::null.
+// kNull must be word-aligned to avoid crashing on ARM.  We use an alignment of
+// 8 (instead of 4) as a bit of future-proofing.
+#if defined(__ARMEL__)
+#define ALIGNAS(byte_alignment) __attribute__((aligned(byte_alignment)))
+#else
+#define ALIGNAS(byte_alignment)
+#endif
+static const unsigned char ALIGNAS(8) kNull[sizeof(Value)] = { 0 };
+const unsigned char& kNullRef = kNull[0];
+const Value& Value::null = reinterpret_cast(kNullRef);
+
+const Int Value::minInt = Int(~(UInt(-1) / 2));
+const Int Value::maxInt = Int(UInt(-1) / 2);
+const UInt Value::maxUInt = UInt(-1);
+#if defined(JSON_HAS_INT64)
+const Int64 Value::minInt64 = Int64(~(UInt64(-1) / 2));
+const Int64 Value::maxInt64 = Int64(UInt64(-1) / 2);
+const UInt64 Value::maxUInt64 = UInt64(-1);
+// The constant is hard-coded because some compiler have trouble
+// converting Value::maxUInt64 to a double correctly (AIX/xlC).
+// Assumes that UInt64 is a 64 bits integer.
+static const double maxUInt64AsDouble = 18446744073709551615.0;
+#endif // defined(JSON_HAS_INT64)
+const LargestInt Value::minLargestInt = LargestInt(~(LargestUInt(-1) / 2));
+const LargestInt Value::maxLargestInt = LargestInt(LargestUInt(-1) / 2);
+const LargestUInt Value::maxLargestUInt = LargestUInt(-1);
+
+/// Unknown size marker
+static const unsigned int unknown = (unsigned)-1;
+
+#if !defined(JSON_USE_INT64_DOUBLE_CONVERSION)
+template 
+static inline bool InRange(double d, T min, U max) {
+  return d >= min && d <= max;
+}
+#else  // if !defined(JSON_USE_INT64_DOUBLE_CONVERSION)
+static inline double integerToDouble(Json::UInt64 value) {
+  return static_cast(Int64(value / 2)) * 2.0 + Int64(value & 1);
+}
+
+template  static inline double integerToDouble(T value) {
+  return static_cast(value);
+}
+
+template 
+static inline bool InRange(double d, T min, U max) {
+  return d >= integerToDouble(min) && d <= integerToDouble(max);
+}
+#endif // if !defined(JSON_USE_INT64_DOUBLE_CONVERSION)
+
+/** Duplicates the specified string value.
+ * @param value Pointer to the string to duplicate. Must be zero-terminated if
+ *              length is "unknown".
+ * @param length Length of the value. if equals to unknown, then it will be
+ *               computed using strlen(value).
+ * @return Pointer on the duplicate instance of string.
+ */
+static inline char* duplicateStringValue(const char* value,
+                                         unsigned int length = unknown) {
+  if (length == unknown)
+    length = (unsigned int)strlen(value);
+
+  // Avoid an integer overflow in the call to malloc below by limiting length
+  // to a sane value.
+  if (length >= (unsigned)Value::maxInt)
+    length = Value::maxInt - 1;
+
+  char* newString = static_cast(malloc(length + 1));
+  JSON_ASSERT_MESSAGE(newString != 0,
+                      "in Json::Value::duplicateStringValue(): "
+                      "Failed to allocate string value buffer");
+  memcpy(newString, value, length);
+  newString[length] = 0;
+  return newString;
+}
+
+/** Free the string duplicated by duplicateStringValue().
+ */
+static inline void releaseStringValue(char* value) { free(value); }
+
+} // namespace Json
+
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// ValueInternals...
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+#if !defined(JSON_IS_AMALGAMATION)
+#ifdef JSON_VALUE_USE_INTERNAL_MAP
+#include "json_internalarray.inl"
+#include "json_internalmap.inl"
+#endif // JSON_VALUE_USE_INTERNAL_MAP
+
+#include "json_valueiterator.inl"
+#endif // if !defined(JSON_IS_AMALGAMATION)
+
+namespace Json {
+
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// class Value::CommentInfo
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+
+Value::CommentInfo::CommentInfo() : comment_(0) {}
+
+Value::CommentInfo::~CommentInfo() {
+  if (comment_)
+    releaseStringValue(comment_);
+}
+
+void Value::CommentInfo::setComment(const char* text) {
+  if (comment_)
+    releaseStringValue(comment_);
+  JSON_ASSERT(text != 0);
+  JSON_ASSERT_MESSAGE(
+      text[0] == '\0' || text[0] == '/',
+      "in Json::Value::setComment(): Comments must start with /");
+  // It seems that /**/ style comments are acceptable as well.
+  comment_ = duplicateStringValue(text);
+}
+
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// class Value::CZString
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+
+// Notes: index_ indicates if the string was allocated when
+// a string is stored.
+
+Value::CZString::CZString(ArrayIndex index) : cstr_(0), index_(index) {}
+
+Value::CZString::CZString(const char* cstr, DuplicationPolicy allocate)
+    : cstr_(allocate == duplicate ? duplicateStringValue(cstr) : cstr),
+      index_(allocate) {}
+
+Value::CZString::CZString(const CZString& other)
+    : cstr_(other.index_ != noDuplication && other.cstr_ != 0
+                ? duplicateStringValue(other.cstr_)
+                : other.cstr_),
+      index_(other.cstr_
+                 ? (other.index_ == noDuplication ? noDuplication : duplicate)
+                 : other.index_) {}
+
+Value::CZString::~CZString() {
+  if (cstr_ && index_ == duplicate)
+    releaseStringValue(const_cast(cstr_));
+}
+
+void Value::CZString::swap(CZString& other) {
+  std::swap(cstr_, other.cstr_);
+  std::swap(index_, other.index_);
+}
+
+Value::CZString& Value::CZString::operator=(CZString other) {
+  swap(other);
+  return *this;
+}
+
+bool Value::CZString::operator<(const CZString& other) const {
+  if (cstr_)
+    return strcmp(cstr_, other.cstr_) < 0;
+  return index_ < other.index_;
+}
+
+bool Value::CZString::operator==(const CZString& other) const {
+  if (cstr_)
+    return strcmp(cstr_, other.cstr_) == 0;
+  return index_ == other.index_;
+}
+
+ArrayIndex Value::CZString::index() const { return index_; }
+
+const char* Value::CZString::c_str() const { return cstr_; }
+
+bool Value::CZString::isStaticString() const { return index_ == noDuplication; }
+
+#endif // ifndef JSON_VALUE_USE_INTERNAL_MAP
+
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// class Value::Value
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+
+/*! \internal Default constructor initialization must be equivalent to:
+ * memset( this, 0, sizeof(Value) )
+ * This optimization is used in ValueInternalMap fast allocator.
+ */
+Value::Value(ValueType type) {
+  initBasic(type);
+  switch (type) {
+  case nullValue:
+    break;
+  case intValue:
+  case uintValue:
+    value_.int_ = 0;
+    break;
+  case realValue:
+    value_.real_ = 0.0;
+    break;
+  case stringValue:
+    value_.string_ = 0;
+    break;
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  case arrayValue:
+  case objectValue:
+    value_.map_ = new ObjectValues();
+    break;
+#else
+  case arrayValue:
+    value_.array_ = arrayAllocator()->newArray();
+    break;
+  case objectValue:
+    value_.map_ = mapAllocator()->newMap();
+    break;
+#endif
+  case booleanValue:
+    value_.bool_ = false;
+    break;
+  default:
+    JSON_ASSERT_UNREACHABLE;
+  }
+}
+
+Value::Value(Int value) {
+  initBasic(intValue);
+  value_.int_ = value;
+}
+
+Value::Value(UInt value) {
+  initBasic(uintValue);
+  value_.uint_ = value;
+}
+#if defined(JSON_HAS_INT64)
+Value::Value(Int64 value) {
+  initBasic(intValue);
+  value_.int_ = value;
+}
+Value::Value(UInt64 value) {
+  initBasic(uintValue);
+  value_.uint_ = value;
+}
+#endif // defined(JSON_HAS_INT64)
+
+Value::Value(double value) {
+  initBasic(realValue);
+  value_.real_ = value;
+}
+
+Value::Value(const char* value) {
+  initBasic(stringValue, true);
+  value_.string_ = duplicateStringValue(value);
+}
+
+Value::Value(const char* beginValue, const char* endValue) {
+  initBasic(stringValue, true);
+  value_.string_ =
+      duplicateStringValue(beginValue, (unsigned int)(endValue - beginValue));
+}
+
+Value::Value(const std::string& value) {
+  initBasic(stringValue, true);
+  value_.string_ =
+      duplicateStringValue(value.c_str(), (unsigned int)value.length());
+}
+
+Value::Value(const StaticString& value) {
+  initBasic(stringValue);
+  value_.string_ = const_cast(value.c_str());
+}
+
+#ifdef JSON_USE_CPPTL
+Value::Value(const CppTL::ConstString& value) {
+  initBasic(stringValue, true);
+  value_.string_ = duplicateStringValue(value, value.length());
+}
+#endif
+
+Value::Value(bool value) {
+  initBasic(booleanValue);
+  value_.bool_ = value;
+}
+
+Value::Value(const Value& other)
+    : type_(other.type_), allocated_(false)
+#ifdef JSON_VALUE_USE_INTERNAL_MAP
+      ,
+      itemIsUsed_(0)
+#endif
+      ,
+      comments_(0), start_(other.start_), limit_(other.limit_) {
+  switch (type_) {
+  case nullValue:
+  case intValue:
+  case uintValue:
+  case realValue:
+  case booleanValue:
+    value_ = other.value_;
+    break;
+  case stringValue:
+    if (other.value_.string_) {
+      value_.string_ = duplicateStringValue(other.value_.string_);
+      allocated_ = true;
+    } else {
+      value_.string_ = 0;
+      allocated_ = false;
+    }
+    break;
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  case arrayValue:
+  case objectValue:
+    value_.map_ = new ObjectValues(*other.value_.map_);
+    break;
+#else
+  case arrayValue:
+    value_.array_ = arrayAllocator()->newArrayCopy(*other.value_.array_);
+    break;
+  case objectValue:
+    value_.map_ = mapAllocator()->newMapCopy(*other.value_.map_);
+    break;
+#endif
+  default:
+    JSON_ASSERT_UNREACHABLE;
+  }
+  if (other.comments_) {
+    comments_ = new CommentInfo[numberOfCommentPlacement];
+    for (int comment = 0; comment < numberOfCommentPlacement; ++comment) {
+      const CommentInfo& otherComment = other.comments_[comment];
+      if (otherComment.comment_)
+        comments_[comment].setComment(otherComment.comment_);
+    }
+  }
+}
+
+Value::~Value() {
+  switch (type_) {
+  case nullValue:
+  case intValue:
+  case uintValue:
+  case realValue:
+  case booleanValue:
+    break;
+  case stringValue:
+    if (allocated_)
+      releaseStringValue(value_.string_);
+    break;
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  case arrayValue:
+  case objectValue:
+    delete value_.map_;
+    break;
+#else
+  case arrayValue:
+    arrayAllocator()->destructArray(value_.array_);
+    break;
+  case objectValue:
+    mapAllocator()->destructMap(value_.map_);
+    break;
+#endif
+  default:
+    JSON_ASSERT_UNREACHABLE;
+  }
+
+  if (comments_)
+    delete[] comments_;
+}
+
+Value& Value::operator=(Value other) {
+  swap(other);
+  return *this;
+}
+
+void Value::swap(Value& other) {
+  ValueType temp = type_;
+  type_ = other.type_;
+  other.type_ = temp;
+  std::swap(value_, other.value_);
+  int temp2 = allocated_;
+  allocated_ = other.allocated_;
+  other.allocated_ = temp2;
+  std::swap(start_, other.start_);
+  std::swap(limit_, other.limit_);
+}
+
+ValueType Value::type() const { return type_; }
+
+int Value::compare(const Value& other) const {
+  if (*this < other)
+    return -1;
+  if (*this > other)
+    return 1;
+  return 0;
+}
+
+bool Value::operator<(const Value& other) const {
+  int typeDelta = type_ - other.type_;
+  if (typeDelta)
+    return typeDelta < 0 ? true : false;
+  switch (type_) {
+  case nullValue:
+    return false;
+  case intValue:
+    return value_.int_ < other.value_.int_;
+  case uintValue:
+    return value_.uint_ < other.value_.uint_;
+  case realValue:
+    return value_.real_ < other.value_.real_;
+  case booleanValue:
+    return value_.bool_ < other.value_.bool_;
+  case stringValue:
+    return (value_.string_ == 0 && other.value_.string_) ||
+           (other.value_.string_ && value_.string_ &&
+            strcmp(value_.string_, other.value_.string_) < 0);
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  case arrayValue:
+  case objectValue: {
+    int delta = int(value_.map_->size() - other.value_.map_->size());
+    if (delta)
+      return delta < 0;
+    return (*value_.map_) < (*other.value_.map_);
+  }
+#else
+  case arrayValue:
+    return value_.array_->compare(*(other.value_.array_)) < 0;
+  case objectValue:
+    return value_.map_->compare(*(other.value_.map_)) < 0;
+#endif
+  default:
+    JSON_ASSERT_UNREACHABLE;
+  }
+  return false; // unreachable
+}
+
+bool Value::operator<=(const Value& other) const { return !(other < *this); }
+
+bool Value::operator>=(const Value& other) const { return !(*this < other); }
+
+bool Value::operator>(const Value& other) const { return other < *this; }
+
+bool Value::operator==(const Value& other) const {
+  // if ( type_ != other.type_ )
+  // GCC 2.95.3 says:
+  // attempt to take address of bit-field structure member `Json::Value::type_'
+  // Beats me, but a temp solves the problem.
+  int temp = other.type_;
+  if (type_ != temp)
+    return false;
+  switch (type_) {
+  case nullValue:
+    return true;
+  case intValue:
+    return value_.int_ == other.value_.int_;
+  case uintValue:
+    return value_.uint_ == other.value_.uint_;
+  case realValue:
+    return value_.real_ == other.value_.real_;
+  case booleanValue:
+    return value_.bool_ == other.value_.bool_;
+  case stringValue:
+    return (value_.string_ == other.value_.string_) ||
+           (other.value_.string_ && value_.string_ &&
+            strcmp(value_.string_, other.value_.string_) == 0);
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  case arrayValue:
+  case objectValue:
+    return value_.map_->size() == other.value_.map_->size() &&
+           (*value_.map_) == (*other.value_.map_);
+#else
+  case arrayValue:
+    return value_.array_->compare(*(other.value_.array_)) == 0;
+  case objectValue:
+    return value_.map_->compare(*(other.value_.map_)) == 0;
+#endif
+  default:
+    JSON_ASSERT_UNREACHABLE;
+  }
+  return false; // unreachable
+}
+
+bool Value::operator!=(const Value& other) const { return !(*this == other); }
+
+const char* Value::asCString() const {
+  JSON_ASSERT_MESSAGE(type_ == stringValue,
+                      "in Json::Value::asCString(): requires stringValue");
+  return value_.string_;
+}
+
+std::string Value::asString() const {
+  switch (type_) {
+  case nullValue:
+    return "";
+  case stringValue:
+    return value_.string_ ? value_.string_ : "";
+  case booleanValue:
+    return value_.bool_ ? "true" : "false";
+  case intValue:
+    return valueToString(value_.int_);
+  case uintValue:
+    return valueToString(value_.uint_);
+  case realValue:
+    return valueToString(value_.real_);
+  default:
+    JSON_FAIL_MESSAGE("Type is not convertible to string");
+  }
+}
+
+#ifdef JSON_USE_CPPTL
+CppTL::ConstString Value::asConstString() const {
+  return CppTL::ConstString(asString().c_str());
+}
+#endif
+
+Value::Int Value::asInt() const {
+  switch (type_) {
+  case intValue:
+    JSON_ASSERT_MESSAGE(isInt(), "LargestInt out of Int range");
+    return Int(value_.int_);
+  case uintValue:
+    JSON_ASSERT_MESSAGE(isInt(), "LargestUInt out of Int range");
+    return Int(value_.uint_);
+  case realValue:
+    JSON_ASSERT_MESSAGE(InRange(value_.real_, minInt, maxInt),
+                        "double out of Int range");
+    return Int(value_.real_);
+  case nullValue:
+    return 0;
+  case booleanValue:
+    return value_.bool_ ? 1 : 0;
+  default:
+    break;
+  }
+  JSON_FAIL_MESSAGE("Value is not convertible to Int.");
+}
+
+Value::UInt Value::asUInt() const {
+  switch (type_) {
+  case intValue:
+    JSON_ASSERT_MESSAGE(isUInt(), "LargestInt out of UInt range");
+    return UInt(value_.int_);
+  case uintValue:
+    JSON_ASSERT_MESSAGE(isUInt(), "LargestUInt out of UInt range");
+    return UInt(value_.uint_);
+  case realValue:
+    JSON_ASSERT_MESSAGE(InRange(value_.real_, 0, maxUInt),
+                        "double out of UInt range");
+    return UInt(value_.real_);
+  case nullValue:
+    return 0;
+  case booleanValue:
+    return value_.bool_ ? 1 : 0;
+  default:
+    break;
+  }
+  JSON_FAIL_MESSAGE("Value is not convertible to UInt.");
+}
+
+#if defined(JSON_HAS_INT64)
+
+Value::Int64 Value::asInt64() const {
+  switch (type_) {
+  case intValue:
+    return Int64(value_.int_);
+  case uintValue:
+    JSON_ASSERT_MESSAGE(isInt64(), "LargestUInt out of Int64 range");
+    return Int64(value_.uint_);
+  case realValue:
+    JSON_ASSERT_MESSAGE(InRange(value_.real_, minInt64, maxInt64),
+                        "double out of Int64 range");
+    return Int64(value_.real_);
+  case nullValue:
+    return 0;
+  case booleanValue:
+    return value_.bool_ ? 1 : 0;
+  default:
+    break;
+  }
+  JSON_FAIL_MESSAGE("Value is not convertible to Int64.");
+}
+
+Value::UInt64 Value::asUInt64() const {
+  switch (type_) {
+  case intValue:
+    JSON_ASSERT_MESSAGE(isUInt64(), "LargestInt out of UInt64 range");
+    return UInt64(value_.int_);
+  case uintValue:
+    return UInt64(value_.uint_);
+  case realValue:
+    JSON_ASSERT_MESSAGE(InRange(value_.real_, 0, maxUInt64),
+                        "double out of UInt64 range");
+    return UInt64(value_.real_);
+  case nullValue:
+    return 0;
+  case booleanValue:
+    return value_.bool_ ? 1 : 0;
+  default:
+    break;
+  }
+  JSON_FAIL_MESSAGE("Value is not convertible to UInt64.");
+}
+#endif // if defined(JSON_HAS_INT64)
+
+LargestInt Value::asLargestInt() const {
+#if defined(JSON_NO_INT64)
+  return asInt();
+#else
+  return asInt64();
+#endif
+}
+
+LargestUInt Value::asLargestUInt() const {
+#if defined(JSON_NO_INT64)
+  return asUInt();
+#else
+  return asUInt64();
+#endif
+}
+
+double Value::asDouble() const {
+  switch (type_) {
+  case intValue:
+    return static_cast(value_.int_);
+  case uintValue:
+#if !defined(JSON_USE_INT64_DOUBLE_CONVERSION)
+    return static_cast(value_.uint_);
+#else  // if !defined(JSON_USE_INT64_DOUBLE_CONVERSION)
+    return integerToDouble(value_.uint_);
+#endif // if !defined(JSON_USE_INT64_DOUBLE_CONVERSION)
+  case realValue:
+    return value_.real_;
+  case nullValue:
+    return 0.0;
+  case booleanValue:
+    return value_.bool_ ? 1.0 : 0.0;
+  default:
+    break;
+  }
+  JSON_FAIL_MESSAGE("Value is not convertible to double.");
+}
+
+float Value::asFloat() const {
+  switch (type_) {
+  case intValue:
+    return static_cast(value_.int_);
+  case uintValue:
+#if !defined(JSON_USE_INT64_DOUBLE_CONVERSION)
+    return static_cast(value_.uint_);
+#else  // if !defined(JSON_USE_INT64_DOUBLE_CONVERSION)
+    return integerToDouble(value_.uint_);
+#endif // if !defined(JSON_USE_INT64_DOUBLE_CONVERSION)
+  case realValue:
+    return static_cast(value_.real_);
+  case nullValue:
+    return 0.0;
+  case booleanValue:
+    return value_.bool_ ? 1.0f : 0.0f;
+  default:
+    break;
+  }
+  JSON_FAIL_MESSAGE("Value is not convertible to float.");
+}
+
+bool Value::asBool() const {
+  switch (type_) {
+  case booleanValue:
+    return value_.bool_;
+  case nullValue:
+    return false;
+  case intValue:
+    return value_.int_ ? true : false;
+  case uintValue:
+    return value_.uint_ ? true : false;
+  case realValue:
+    return value_.real_ ? true : false;
+  default:
+    break;
+  }
+  JSON_FAIL_MESSAGE("Value is not convertible to bool.");
+}
+
+bool Value::isConvertibleTo(ValueType other) const {
+  switch (other) {
+  case nullValue:
+    return (isNumeric() && asDouble() == 0.0) ||
+           (type_ == booleanValue && value_.bool_ == false) ||
+           (type_ == stringValue && asString() == "") ||
+           (type_ == arrayValue && value_.map_->size() == 0) ||
+           (type_ == objectValue && value_.map_->size() == 0) ||
+           type_ == nullValue;
+  case intValue:
+    return isInt() ||
+           (type_ == realValue && InRange(value_.real_, minInt, maxInt)) ||
+           type_ == booleanValue || type_ == nullValue;
+  case uintValue:
+    return isUInt() ||
+           (type_ == realValue && InRange(value_.real_, 0, maxUInt)) ||
+           type_ == booleanValue || type_ == nullValue;
+  case realValue:
+    return isNumeric() || type_ == booleanValue || type_ == nullValue;
+  case booleanValue:
+    return isNumeric() || type_ == booleanValue || type_ == nullValue;
+  case stringValue:
+    return isNumeric() || type_ == booleanValue || type_ == stringValue ||
+           type_ == nullValue;
+  case arrayValue:
+    return type_ == arrayValue || type_ == nullValue;
+  case objectValue:
+    return type_ == objectValue || type_ == nullValue;
+  }
+  JSON_ASSERT_UNREACHABLE;
+  return false;
+}
+
+/// Number of values in array or object
+ArrayIndex Value::size() const {
+  switch (type_) {
+  case nullValue:
+  case intValue:
+  case uintValue:
+  case realValue:
+  case booleanValue:
+  case stringValue:
+    return 0;
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  case arrayValue: // size of the array is highest index + 1
+    if (!value_.map_->empty()) {
+      ObjectValues::const_iterator itLast = value_.map_->end();
+      --itLast;
+      return (*itLast).first.index() + 1;
+    }
+    return 0;
+  case objectValue:
+    return ArrayIndex(value_.map_->size());
+#else
+  case arrayValue:
+    return Int(value_.array_->size());
+  case objectValue:
+    return Int(value_.map_->size());
+#endif
+  }
+  JSON_ASSERT_UNREACHABLE;
+  return 0; // unreachable;
+}
+
+bool Value::empty() const {
+  if (isNull() || isArray() || isObject())
+    return size() == 0u;
+  else
+    return false;
+}
+
+bool Value::operator!() const { return isNull(); }
+
+void Value::clear() {
+  JSON_ASSERT_MESSAGE(type_ == nullValue || type_ == arrayValue ||
+                          type_ == objectValue,
+                      "in Json::Value::clear(): requires complex value");
+  start_ = 0;
+  limit_ = 0;
+  switch (type_) {
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  case arrayValue:
+  case objectValue:
+    value_.map_->clear();
+    break;
+#else
+  case arrayValue:
+    value_.array_->clear();
+    break;
+  case objectValue:
+    value_.map_->clear();
+    break;
+#endif
+  default:
+    break;
+  }
+}
+
+void Value::resize(ArrayIndex newSize) {
+  JSON_ASSERT_MESSAGE(type_ == nullValue || type_ == arrayValue,
+                      "in Json::Value::resize(): requires arrayValue");
+  if (type_ == nullValue)
+    *this = Value(arrayValue);
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  ArrayIndex oldSize = size();
+  if (newSize == 0)
+    clear();
+  else if (newSize > oldSize)
+    (*this)[newSize - 1];
+  else {
+    for (ArrayIndex index = newSize; index < oldSize; ++index) {
+      value_.map_->erase(index);
+    }
+    assert(size() == newSize);
+  }
+#else
+  value_.array_->resize(newSize);
+#endif
+}
+
+Value& Value::operator[](ArrayIndex index) {
+  JSON_ASSERT_MESSAGE(
+      type_ == nullValue || type_ == arrayValue,
+      "in Json::Value::operator[](ArrayIndex): requires arrayValue");
+  if (type_ == nullValue)
+    *this = Value(arrayValue);
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  CZString key(index);
+  ObjectValues::iterator it = value_.map_->lower_bound(key);
+  if (it != value_.map_->end() && (*it).first == key)
+    return (*it).second;
+
+  ObjectValues::value_type defaultValue(key, null);
+  it = value_.map_->insert(it, defaultValue);
+  return (*it).second;
+#else
+  return value_.array_->resolveReference(index);
+#endif
+}
+
+Value& Value::operator[](int index) {
+  JSON_ASSERT_MESSAGE(
+      index >= 0,
+      "in Json::Value::operator[](int index): index cannot be negative");
+  return (*this)[ArrayIndex(index)];
+}
+
+const Value& Value::operator[](ArrayIndex index) const {
+  JSON_ASSERT_MESSAGE(
+      type_ == nullValue || type_ == arrayValue,
+      "in Json::Value::operator[](ArrayIndex)const: requires arrayValue");
+  if (type_ == nullValue)
+    return null;
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  CZString key(index);
+  ObjectValues::const_iterator it = value_.map_->find(key);
+  if (it == value_.map_->end())
+    return null;
+  return (*it).second;
+#else
+  Value* value = value_.array_->find(index);
+  return value ? *value : null;
+#endif
+}
+
+const Value& Value::operator[](int index) const {
+  JSON_ASSERT_MESSAGE(
+      index >= 0,
+      "in Json::Value::operator[](int index) const: index cannot be negative");
+  return (*this)[ArrayIndex(index)];
+}
+
+Value& Value::operator[](const char* key) {
+  return resolveReference(key, false);
+}
+
+void Value::initBasic(ValueType type, bool allocated) {
+  type_ = type;
+  allocated_ = allocated;
+#ifdef JSON_VALUE_USE_INTERNAL_MAP
+  itemIsUsed_ = 0;
+#endif
+  comments_ = 0;
+  start_ = 0;
+  limit_ = 0;
+}
+
+Value& Value::resolveReference(const char* key, bool isStatic) {
+  JSON_ASSERT_MESSAGE(
+      type_ == nullValue || type_ == objectValue,
+      "in Json::Value::resolveReference(): requires objectValue");
+  if (type_ == nullValue)
+    *this = Value(objectValue);
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  CZString actualKey(
+      key, isStatic ? CZString::noDuplication : CZString::duplicateOnCopy);
+  ObjectValues::iterator it = value_.map_->lower_bound(actualKey);
+  if (it != value_.map_->end() && (*it).first == actualKey)
+    return (*it).second;
+
+  ObjectValues::value_type defaultValue(actualKey, null);
+  it = value_.map_->insert(it, defaultValue);
+  Value& value = (*it).second;
+  return value;
+#else
+  return value_.map_->resolveReference(key, isStatic);
+#endif
+}
+
+Value Value::get(ArrayIndex index, const Value& defaultValue) const {
+  const Value* value = &((*this)[index]);
+  return value == &null ? defaultValue : *value;
+}
+
+bool Value::isValidIndex(ArrayIndex index) const { return index < size(); }
+
+const Value& Value::operator[](const char* key) const {
+  JSON_ASSERT_MESSAGE(
+      type_ == nullValue || type_ == objectValue,
+      "in Json::Value::operator[](char const*)const: requires objectValue");
+  if (type_ == nullValue)
+    return null;
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  CZString actualKey(key, CZString::noDuplication);
+  ObjectValues::const_iterator it = value_.map_->find(actualKey);
+  if (it == value_.map_->end())
+    return null;
+  return (*it).second;
+#else
+  const Value* value = value_.map_->find(key);
+  return value ? *value : null;
+#endif
+}
+
+Value& Value::operator[](const std::string& key) {
+  return (*this)[key.c_str()];
+}
+
+const Value& Value::operator[](const std::string& key) const {
+  return (*this)[key.c_str()];
+}
+
+Value& Value::operator[](const StaticString& key) {
+  return resolveReference(key, true);
+}
+
+#ifdef JSON_USE_CPPTL
+Value& Value::operator[](const CppTL::ConstString& key) {
+  return (*this)[key.c_str()];
+}
+
+const Value& Value::operator[](const CppTL::ConstString& key) const {
+  return (*this)[key.c_str()];
+}
+#endif
+
+Value& Value::append(const Value& value) { return (*this)[size()] = value; }
+
+Value Value::get(const char* key, const Value& defaultValue) const {
+  const Value* value = &((*this)[key]);
+  return value == &null ? defaultValue : *value;
+}
+
+Value Value::get(const std::string& key, const Value& defaultValue) const {
+  return get(key.c_str(), defaultValue);
+}
+
+Value Value::removeMember(const char* key) {
+  JSON_ASSERT_MESSAGE(type_ == nullValue || type_ == objectValue,
+                      "in Json::Value::removeMember(): requires objectValue");
+  if (type_ == nullValue)
+    return null;
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  CZString actualKey(key, CZString::noDuplication);
+  ObjectValues::iterator it = value_.map_->find(actualKey);
+  if (it == value_.map_->end())
+    return null;
+  Value old(it->second);
+  value_.map_->erase(it);
+  return old;
+#else
+  Value* value = value_.map_->find(key);
+  if (value) {
+    Value old(*value);
+    value_.map_.remove(key);
+    return old;
+  } else {
+    return null;
+  }
+#endif
+}
+
+Value Value::removeMember(const std::string& key) {
+  return removeMember(key.c_str());
+}
+
+#ifdef JSON_USE_CPPTL
+Value Value::get(const CppTL::ConstString& key,
+                 const Value& defaultValue) const {
+  return get(key.c_str(), defaultValue);
+}
+#endif
+
+bool Value::isMember(const char* key) const {
+  const Value* value = &((*this)[key]);
+  return value != &null;
+}
+
+bool Value::isMember(const std::string& key) const {
+  return isMember(key.c_str());
+}
+
+#ifdef JSON_USE_CPPTL
+bool Value::isMember(const CppTL::ConstString& key) const {
+  return isMember(key.c_str());
+}
+#endif
+
+Value::Members Value::getMemberNames() const {
+  JSON_ASSERT_MESSAGE(
+      type_ == nullValue || type_ == objectValue,
+      "in Json::Value::getMemberNames(), value must be objectValue");
+  if (type_ == nullValue)
+    return Value::Members();
+  Members members;
+  members.reserve(value_.map_->size());
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  ObjectValues::const_iterator it = value_.map_->begin();
+  ObjectValues::const_iterator itEnd = value_.map_->end();
+  for (; it != itEnd; ++it)
+    members.push_back(std::string((*it).first.c_str()));
+#else
+  ValueInternalMap::IteratorState it;
+  ValueInternalMap::IteratorState itEnd;
+  value_.map_->makeBeginIterator(it);
+  value_.map_->makeEndIterator(itEnd);
+  for (; !ValueInternalMap::equals(it, itEnd); ValueInternalMap::increment(it))
+    members.push_back(std::string(ValueInternalMap::key(it)));
+#endif
+  return members;
+}
+//
+//# ifdef JSON_USE_CPPTL
+// EnumMemberNames
+// Value::enumMemberNames() const
+//{
+//   if ( type_ == objectValue )
+//   {
+//      return CppTL::Enum::any(  CppTL::Enum::transform(
+//         CppTL::Enum::keys( *(value_.map_), CppTL::Type() ),
+//         MemberNamesTransform() ) );
+//   }
+//   return EnumMemberNames();
+//}
+//
+//
+// EnumValues
+// Value::enumValues() const
+//{
+//   if ( type_ == objectValue  ||  type_ == arrayValue )
+//      return CppTL::Enum::anyValues( *(value_.map_),
+//                                     CppTL::Type() );
+//   return EnumValues();
+//}
+//
+//# endif
+
+static bool IsIntegral(double d) {
+  double integral_part;
+  return modf(d, &integral_part) == 0.0;
+}
+
+bool Value::isNull() const { return type_ == nullValue; }
+
+bool Value::isBool() const { return type_ == booleanValue; }
+
+bool Value::isInt() const {
+  switch (type_) {
+  case intValue:
+    return value_.int_ >= minInt && value_.int_ <= maxInt;
+  case uintValue:
+    return value_.uint_ <= UInt(maxInt);
+  case realValue:
+    return value_.real_ >= minInt && value_.real_ <= maxInt &&
+           IsIntegral(value_.real_);
+  default:
+    break;
+  }
+  return false;
+}
+
+bool Value::isUInt() const {
+  switch (type_) {
+  case intValue:
+    return value_.int_ >= 0 && LargestUInt(value_.int_) <= LargestUInt(maxUInt);
+  case uintValue:
+    return value_.uint_ <= maxUInt;
+  case realValue:
+    return value_.real_ >= 0 && value_.real_ <= maxUInt &&
+           IsIntegral(value_.real_);
+  default:
+    break;
+  }
+  return false;
+}
+
+bool Value::isInt64() const {
+#if defined(JSON_HAS_INT64)
+  switch (type_) {
+  case intValue:
+    return true;
+  case uintValue:
+    return value_.uint_ <= UInt64(maxInt64);
+  case realValue:
+    // Note that maxInt64 (= 2^63 - 1) is not exactly representable as a
+    // double, so double(maxInt64) will be rounded up to 2^63. Therefore we
+    // require the value to be strictly less than the limit.
+    return value_.real_ >= double(minInt64) &&
+           value_.real_ < double(maxInt64) && IsIntegral(value_.real_);
+  default:
+    break;
+  }
+#endif // JSON_HAS_INT64
+  return false;
+}
+
+bool Value::isUInt64() const {
+#if defined(JSON_HAS_INT64)
+  switch (type_) {
+  case intValue:
+    return value_.int_ >= 0;
+  case uintValue:
+    return true;
+  case realValue:
+    // Note that maxUInt64 (= 2^64 - 1) is not exactly representable as a
+    // double, so double(maxUInt64) will be rounded up to 2^64. Therefore we
+    // require the value to be strictly less than the limit.
+    return value_.real_ >= 0 && value_.real_ < maxUInt64AsDouble &&
+           IsIntegral(value_.real_);
+  default:
+    break;
+  }
+#endif // JSON_HAS_INT64
+  return false;
+}
+
+bool Value::isIntegral() const {
+#if defined(JSON_HAS_INT64)
+  return isInt64() || isUInt64();
+#else
+  return isInt() || isUInt();
+#endif
+}
+
+bool Value::isDouble() const { return type_ == realValue || isIntegral(); }
+
+bool Value::isNumeric() const { return isIntegral() || isDouble(); }
+
+bool Value::isString() const { return type_ == stringValue; }
+
+bool Value::isArray() const { return type_ == arrayValue; }
+
+bool Value::isObject() const { return type_ == objectValue; }
+
+void Value::setComment(const char* comment, CommentPlacement placement) {
+  if (!comments_)
+    comments_ = new CommentInfo[numberOfCommentPlacement];
+  comments_[placement].setComment(comment);
+}
+
+void Value::setComment(const std::string& comment, CommentPlacement placement) {
+  setComment(comment.c_str(), placement);
+}
+
+bool Value::hasComment(CommentPlacement placement) const {
+  return comments_ != 0 && comments_[placement].comment_ != 0;
+}
+
+std::string Value::getComment(CommentPlacement placement) const {
+  if (hasComment(placement))
+    return comments_[placement].comment_;
+  return "";
+}
+
+void Value::setOffsetStart(size_t start) { start_ = start; }
+
+void Value::setOffsetLimit(size_t limit) { limit_ = limit; }
+
+size_t Value::getOffsetStart() const { return start_; }
+
+size_t Value::getOffsetLimit() const { return limit_; }
+
+std::string Value::toStyledString() const {
+  StyledWriter writer;
+  return writer.write(*this);
+}
+
+Value::const_iterator Value::begin() const {
+  switch (type_) {
+#ifdef JSON_VALUE_USE_INTERNAL_MAP
+  case arrayValue:
+    if (value_.array_) {
+      ValueInternalArray::IteratorState it;
+      value_.array_->makeBeginIterator(it);
+      return const_iterator(it);
+    }
+    break;
+  case objectValue:
+    if (value_.map_) {
+      ValueInternalMap::IteratorState it;
+      value_.map_->makeBeginIterator(it);
+      return const_iterator(it);
+    }
+    break;
+#else
+  case arrayValue:
+  case objectValue:
+    if (value_.map_)
+      return const_iterator(value_.map_->begin());
+    break;
+#endif
+  default:
+    break;
+  }
+  return const_iterator();
+}
+
+Value::const_iterator Value::end() const {
+  switch (type_) {
+#ifdef JSON_VALUE_USE_INTERNAL_MAP
+  case arrayValue:
+    if (value_.array_) {
+      ValueInternalArray::IteratorState it;
+      value_.array_->makeEndIterator(it);
+      return const_iterator(it);
+    }
+    break;
+  case objectValue:
+    if (value_.map_) {
+      ValueInternalMap::IteratorState it;
+      value_.map_->makeEndIterator(it);
+      return const_iterator(it);
+    }
+    break;
+#else
+  case arrayValue:
+  case objectValue:
+    if (value_.map_)
+      return const_iterator(value_.map_->end());
+    break;
+#endif
+  default:
+    break;
+  }
+  return const_iterator();
+}
+
+Value::iterator Value::begin() {
+  switch (type_) {
+#ifdef JSON_VALUE_USE_INTERNAL_MAP
+  case arrayValue:
+    if (value_.array_) {
+      ValueInternalArray::IteratorState it;
+      value_.array_->makeBeginIterator(it);
+      return iterator(it);
+    }
+    break;
+  case objectValue:
+    if (value_.map_) {
+      ValueInternalMap::IteratorState it;
+      value_.map_->makeBeginIterator(it);
+      return iterator(it);
+    }
+    break;
+#else
+  case arrayValue:
+  case objectValue:
+    if (value_.map_)
+      return iterator(value_.map_->begin());
+    break;
+#endif
+  default:
+    break;
+  }
+  return iterator();
+}
+
+Value::iterator Value::end() {
+  switch (type_) {
+#ifdef JSON_VALUE_USE_INTERNAL_MAP
+  case arrayValue:
+    if (value_.array_) {
+      ValueInternalArray::IteratorState it;
+      value_.array_->makeEndIterator(it);
+      return iterator(it);
+    }
+    break;
+  case objectValue:
+    if (value_.map_) {
+      ValueInternalMap::IteratorState it;
+      value_.map_->makeEndIterator(it);
+      return iterator(it);
+    }
+    break;
+#else
+  case arrayValue:
+  case objectValue:
+    if (value_.map_)
+      return iterator(value_.map_->end());
+    break;
+#endif
+  default:
+    break;
+  }
+  return iterator();
+}
+
+// class PathArgument
+// //////////////////////////////////////////////////////////////////
+
+PathArgument::PathArgument() : key_(), index_(), kind_(kindNone) {}
+
+PathArgument::PathArgument(ArrayIndex index)
+    : key_(), index_(index), kind_(kindIndex) {}
+
+PathArgument::PathArgument(const char* key)
+    : key_(key), index_(), kind_(kindKey) {}
+
+PathArgument::PathArgument(const std::string& key)
+    : key_(key.c_str()), index_(), kind_(kindKey) {}
+
+// class Path
+// //////////////////////////////////////////////////////////////////
+
+Path::Path(const std::string& path,
+           const PathArgument& a1,
+           const PathArgument& a2,
+           const PathArgument& a3,
+           const PathArgument& a4,
+           const PathArgument& a5) {
+  InArgs in;
+  in.push_back(&a1);
+  in.push_back(&a2);
+  in.push_back(&a3);
+  in.push_back(&a4);
+  in.push_back(&a5);
+  makePath(path, in);
+}
+
+void Path::makePath(const std::string& path, const InArgs& in) {
+  const char* current = path.c_str();
+  const char* end = current + path.length();
+  InArgs::const_iterator itInArg = in.begin();
+  while (current != end) {
+    if (*current == '[') {
+      ++current;
+      if (*current == '%')
+        addPathInArg(path, in, itInArg, PathArgument::kindIndex);
+      else {
+        ArrayIndex index = 0;
+        for (; current != end && *current >= '0' && *current <= '9'; ++current)
+          index = index * 10 + ArrayIndex(*current - '0');
+        args_.push_back(index);
+      }
+      if (current == end || *current++ != ']')
+        invalidPath(path, int(current - path.c_str()));
+    } else if (*current == '%') {
+      addPathInArg(path, in, itInArg, PathArgument::kindKey);
+      ++current;
+    } else if (*current == '.') {
+      ++current;
+    } else {
+      const char* beginName = current;
+      while (current != end && !strchr("[.", *current))
+        ++current;
+      args_.push_back(std::string(beginName, current));
+    }
+  }
+}
+
+void Path::addPathInArg(const std::string& /*path*/,
+                        const InArgs& in,
+                        InArgs::const_iterator& itInArg,
+                        PathArgument::Kind kind) {
+  if (itInArg == in.end()) {
+    // Error: missing argument %d
+  } else if ((*itInArg)->kind_ != kind) {
+    // Error: bad argument type
+  } else {
+    args_.push_back(**itInArg);
+  }
+}
+
+void Path::invalidPath(const std::string& /*path*/, int /*location*/) {
+  // Error: invalid path.
+}
+
+const Value& Path::resolve(const Value& root) const {
+  const Value* node = &root;
+  for (Args::const_iterator it = args_.begin(); it != args_.end(); ++it) {
+    const PathArgument& arg = *it;
+    if (arg.kind_ == PathArgument::kindIndex) {
+      if (!node->isArray() || !node->isValidIndex(arg.index_)) {
+        // Error: unable to resolve path (array value expected at position...
+      }
+      node = &((*node)[arg.index_]);
+    } else if (arg.kind_ == PathArgument::kindKey) {
+      if (!node->isObject()) {
+        // Error: unable to resolve path (object value expected at position...)
+      }
+      node = &((*node)[arg.key_]);
+      if (node == &Value::null) {
+        // Error: unable to resolve path (object has no member named '' at
+        // position...)
+      }
+    }
+  }
+  return *node;
+}
+
+Value Path::resolve(const Value& root, const Value& defaultValue) const {
+  const Value* node = &root;
+  for (Args::const_iterator it = args_.begin(); it != args_.end(); ++it) {
+    const PathArgument& arg = *it;
+    if (arg.kind_ == PathArgument::kindIndex) {
+      if (!node->isArray() || !node->isValidIndex(arg.index_))
+        return defaultValue;
+      node = &((*node)[arg.index_]);
+    } else if (arg.kind_ == PathArgument::kindKey) {
+      if (!node->isObject())
+        return defaultValue;
+      node = &((*node)[arg.key_]);
+      if (node == &Value::null)
+        return defaultValue;
+    }
+  }
+  return *node;
+}
+
+Value& Path::make(Value& root) const {
+  Value* node = &root;
+  for (Args::const_iterator it = args_.begin(); it != args_.end(); ++it) {
+    const PathArgument& arg = *it;
+    if (arg.kind_ == PathArgument::kindIndex) {
+      if (!node->isArray()) {
+        // Error: node is not an array at position ...
+      }
+      node = &((*node)[arg.index_]);
+    } else if (arg.kind_ == PathArgument::kindKey) {
+      if (!node->isObject()) {
+        // Error: node is not an object at position...
+      }
+      node = &((*node)[arg.key_]);
+    }
+  }
+  return *node;
+}
+
+} // namespace Json
+} // namespace VA
diff --git a/VrUtils/jsoncpp/json_valueiterator.inl b/VrUtils/jsoncpp/json_valueiterator.inl
new file mode 100644
index 0000000..a9f7df6
--- /dev/null
+++ b/VrUtils/jsoncpp/json_valueiterator.inl
@@ -0,0 +1,241 @@
+// Copyright 2007-2010 Baptiste Lepilleur
+// Distributed under MIT license, or public domain if desired and
+// recognized in your jurisdiction.
+// See file LICENSE for detail or copy at http://jsoncpp.sourceforge.net/LICENSE
+
+// included by json_value.cpp
+
+namespace Json {
+
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// class ValueIteratorBase
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+
+ValueIteratorBase::ValueIteratorBase()
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+    : current_(), isNull_(true) {
+}
+#else
+    : isArray_(true), isNull_(true) {
+  iterator_.array_ = ValueInternalArray::IteratorState();
+}
+#endif
+
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+ValueIteratorBase::ValueIteratorBase(
+    const Value::ObjectValues::iterator& current)
+    : current_(current), isNull_(false) {}
+#else
+ValueIteratorBase::ValueIteratorBase(
+    const ValueInternalArray::IteratorState& state)
+    : isArray_(true) {
+  iterator_.array_ = state;
+}
+
+ValueIteratorBase::ValueIteratorBase(
+    const ValueInternalMap::IteratorState& state)
+    : isArray_(false) {
+  iterator_.map_ = state;
+}
+#endif
+
+Value& ValueIteratorBase::deref() const {
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  return current_->second;
+#else
+  if (isArray_)
+    return ValueInternalArray::dereference(iterator_.array_);
+  return ValueInternalMap::value(iterator_.map_);
+#endif
+}
+
+void ValueIteratorBase::increment() {
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  ++current_;
+#else
+  if (isArray_)
+    ValueInternalArray::increment(iterator_.array_);
+  ValueInternalMap::increment(iterator_.map_);
+#endif
+}
+
+void ValueIteratorBase::decrement() {
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  --current_;
+#else
+  if (isArray_)
+    ValueInternalArray::decrement(iterator_.array_);
+  ValueInternalMap::decrement(iterator_.map_);
+#endif
+}
+
+ValueIteratorBase::difference_type
+ValueIteratorBase::computeDistance(const SelfType& other) const {
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+#ifdef JSON_USE_CPPTL_SMALLMAP
+  return current_ - other.current_;
+#else
+  // Iterator for null value are initialized using the default
+  // constructor, which initialize current_ to the default
+  // std::map::iterator. As begin() and end() are two instance
+  // of the default std::map::iterator, they can not be compared.
+  // To allow this, we handle this comparison specifically.
+  if (isNull_ && other.isNull_) {
+    return 0;
+  }
+
+  // Usage of std::distance is not portable (does not compile with Sun Studio 12
+  // RogueWave STL,
+  // which is the one used by default).
+  // Using a portable hand-made version for non random iterator instead:
+  //   return difference_type( std::distance( current_, other.current_ ) );
+  difference_type myDistance = 0;
+  for (Value::ObjectValues::iterator it = current_; it != other.current_;
+       ++it) {
+    ++myDistance;
+  }
+  return myDistance;
+#endif
+#else
+  if (isArray_)
+    return ValueInternalArray::distance(iterator_.array_,
+                                        other.iterator_.array_);
+  return ValueInternalMap::distance(iterator_.map_, other.iterator_.map_);
+#endif
+}
+
+bool ValueIteratorBase::isEqual(const SelfType& other) const {
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  if (isNull_) {
+    return other.isNull_;
+  }
+  return current_ == other.current_;
+#else
+  if (isArray_)
+    return ValueInternalArray::equals(iterator_.array_, other.iterator_.array_);
+  return ValueInternalMap::equals(iterator_.map_, other.iterator_.map_);
+#endif
+}
+
+void ValueIteratorBase::copy(const SelfType& other) {
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  current_ = other.current_;
+  isNull_ = other.isNull_;
+#else
+  if (isArray_)
+    iterator_.array_ = other.iterator_.array_;
+  iterator_.map_ = other.iterator_.map_;
+#endif
+}
+
+Value ValueIteratorBase::key() const {
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  const Value::CZString czstring = (*current_).first;
+  if (czstring.c_str()) {
+    if (czstring.isStaticString())
+      return Value(StaticString(czstring.c_str()));
+    return Value(czstring.c_str());
+  }
+  return Value(czstring.index());
+#else
+  if (isArray_)
+    return Value(ValueInternalArray::indexOf(iterator_.array_));
+  bool isStatic;
+  const char* memberName = ValueInternalMap::key(iterator_.map_, isStatic);
+  if (isStatic)
+    return Value(StaticString(memberName));
+  return Value(memberName);
+#endif
+}
+
+UInt ValueIteratorBase::index() const {
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  const Value::CZString czstring = (*current_).first;
+  if (!czstring.c_str())
+    return czstring.index();
+  return Value::UInt(-1);
+#else
+  if (isArray_)
+    return Value::UInt(ValueInternalArray::indexOf(iterator_.array_));
+  return Value::UInt(-1);
+#endif
+}
+
+const char* ValueIteratorBase::memberName() const {
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+  const char* name = (*current_).first.c_str();
+  return name ? name : "";
+#else
+  if (!isArray_)
+    return ValueInternalMap::key(iterator_.map_);
+  return "";
+#endif
+}
+
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// class ValueConstIterator
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+
+ValueConstIterator::ValueConstIterator() {}
+
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+ValueConstIterator::ValueConstIterator(
+    const Value::ObjectValues::iterator& current)
+    : ValueIteratorBase(current) {}
+#else
+ValueConstIterator::ValueConstIterator(
+    const ValueInternalArray::IteratorState& state)
+    : ValueIteratorBase(state) {}
+
+ValueConstIterator::ValueConstIterator(
+    const ValueInternalMap::IteratorState& state)
+    : ValueIteratorBase(state) {}
+#endif
+
+ValueConstIterator& ValueConstIterator::
+operator=(const ValueIteratorBase& other) {
+  copy(other);
+  return *this;
+}
+
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// class ValueIterator
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+// //////////////////////////////////////////////////////////////////
+
+ValueIterator::ValueIterator() {}
+
+#ifndef JSON_VALUE_USE_INTERNAL_MAP
+ValueIterator::ValueIterator(const Value::ObjectValues::iterator& current)
+    : ValueIteratorBase(current) {}
+#else
+ValueIterator::ValueIterator(const ValueInternalArray::IteratorState& state)
+    : ValueIteratorBase(state) {}
+
+ValueIterator::ValueIterator(const ValueInternalMap::IteratorState& state)
+    : ValueIteratorBase(state) {}
+#endif
+
+ValueIterator::ValueIterator(const ValueConstIterator& other)
+    : ValueIteratorBase(other) {}
+
+ValueIterator::ValueIterator(const ValueIterator& other)
+    : ValueIteratorBase(other) {}
+
+ValueIterator& ValueIterator::operator=(const SelfType& other) {
+  copy(other);
+  return *this;
+}
+
+} // namespace Json
diff --git a/VrUtils/jsoncpp/json_writer.cpp b/VrUtils/jsoncpp/json_writer.cpp
new file mode 100644
index 0000000..9cf5efc
--- /dev/null
+++ b/VrUtils/jsoncpp/json_writer.cpp
@@ -0,0 +1,691 @@
+// Copyright 2011 Baptiste Lepilleur
+// Distributed under MIT license, or public domain if desired and
+// recognized in your jurisdiction.
+// See file LICENSE for detail or copy at http://jsoncpp.sourceforge.net/LICENSE
+
+#if !defined(JSON_IS_AMALGAMATION)
+#include "json/writer.h"
+#include "json_tool.h"
+#endif // if !defined(JSON_IS_AMALGAMATION)
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#if defined(_MSC_VER) && _MSC_VER < 1500 // VC++ 8.0 and below
+#include 
+#define isfinite _finite
+#define snprintf _snprintf
+#endif
+
+#if defined(_MSC_VER) && _MSC_VER >= 1400 // VC++ 8.0
+// Disable warning about strdup being deprecated.
+#pragma warning(disable : 4996)
+#endif
+namespace VA {
+namespace Json {
+
+static bool containsControlCharacter(const char* str) {
+  while (*str) {
+    if (isControlCharacter(*(str++)))
+      return true;
+  }
+  return false;
+}
+
+std::string valueToString(LargestInt value) {
+  UIntToStringBuffer buffer;
+  char* current = buffer + sizeof(buffer);
+  bool isNegative = value < 0;
+  if (isNegative)
+    value = -value;
+  uintToString(LargestUInt(value), current);
+  if (isNegative)
+    *--current = '-';
+  assert(current >= buffer);
+  return current;
+}
+
+std::string valueToString(LargestUInt value) {
+  UIntToStringBuffer buffer;
+  char* current = buffer + sizeof(buffer);
+  uintToString(value, current);
+  assert(current >= buffer);
+  return current;
+}
+
+#if defined(JSON_HAS_INT64)
+
+std::string valueToString(Int value) {
+  return valueToString(LargestInt(value));
+}
+
+std::string valueToString(UInt value) {
+  return valueToString(LargestUInt(value));
+}
+
+#endif // # if defined(JSON_HAS_INT64)
+
+std::string valueToString(double value) {
+  // Allocate a buffer that is more than large enough to store the 16 digits of
+  // precision requested below.
+  char buffer[32];
+  int len = -1;
+
+// Print into the buffer. We need not request the alternative representation
+// that always has a decimal point because JSON doesn't distingish the
+// concepts of reals and integers.
+#if defined(_MSC_VER) && defined(__STDC_SECURE_LIB__) // Use secure version with
+                                                      // visual studio 2005 to
+                                                      // avoid warning.
+#if defined(WINCE)
+  len = _snprintf(buffer, sizeof(buffer), "%.16g", value);
+#else
+  len = sprintf_s(buffer, sizeof(buffer), "%.16g", value);
+#endif
+#else
+  if (isfinite(value)) {
+    len = snprintf(buffer, sizeof(buffer), "%.16g", value);
+  } else {
+    // IEEE standard states that NaN values will not compare to themselves
+    if (value != value) {
+      len = snprintf(buffer, sizeof(buffer), "null");
+    } else if (value < 0) {
+      len = snprintf(buffer, sizeof(buffer), "-1e+9999");
+    } else {
+      len = snprintf(buffer, sizeof(buffer), "1e+9999");
+    }
+    // For those, we do not need to call fixNumLoc, but it is fast.
+  }
+#endif
+  assert(len >= 0);
+  fixNumericLocale(buffer, buffer + len);
+  return buffer;
+}
+
+std::string valueToString(bool value) { return value ? "true" : "false"; }
+
+std::string valueToQuotedString(const char* value) {
+  if (value == NULL)
+    return "";
+  // Not sure how to handle unicode...
+  if (strpbrk(value, "\"\\\b\f\n\r\t") == NULL &&
+      !containsControlCharacter(value))
+    return std::string("\"") + value + "\"";
+  // We have to walk value and escape any special characters.
+  // Appending to std::string is not efficient, but this should be rare.
+  // (Note: forward slashes are *not* rare, but I am not escaping them.)
+  std::string::size_type maxsize =
+      strlen(value) * 2 + 3; // allescaped+quotes+NULL
+  std::string result;
+  result.reserve(maxsize); // to avoid lots of mallocs
+  result += "\"";
+  for (const char* c = value; *c != 0; ++c) {
+    switch (*c) {
+    case '\"':
+      result += "\\\"";
+      break;
+    case '\\':
+      result += "\\\\";
+      break;
+    case '\b':
+      result += "\\b";
+      break;
+    case '\f':
+      result += "\\f";
+      break;
+    case '\n':
+      result += "\\n";
+      break;
+    case '\r':
+      result += "\\r";
+      break;
+    case '\t':
+      result += "\\t";
+      break;
+    // case '/':
+    // Even though \/ is considered a legal escape in JSON, a bare
+    // slash is also legal, so I see no reason to escape it.
+    // (I hope I am not misunderstanding something.
+    // blep notes: actually escaping \/ may be useful in javascript to avoid (*c);
+        result += oss.str();
+      } else {
+        result += *c;
+      }
+      break;
+    }
+  }
+  result += "\"";
+  return result;
+}
+
+// Class Writer
+// //////////////////////////////////////////////////////////////////
+Writer::~Writer() {}
+
+// Class FastWriter
+// //////////////////////////////////////////////////////////////////
+
+FastWriter::FastWriter()
+    : yamlCompatiblityEnabled_(false), dropNullPlaceholders_(false),
+      omitEndingLineFeed_(false) {}
+
+void FastWriter::enableYAMLCompatibility() { yamlCompatiblityEnabled_ = true; }
+
+void FastWriter::dropNullPlaceholders() { dropNullPlaceholders_ = true; }
+
+void FastWriter::omitEndingLineFeed() { omitEndingLineFeed_ = true; }
+
+std::string FastWriter::write(const Value& root) {
+  document_ = "";
+  writeValue(root);
+  if (!omitEndingLineFeed_)
+    document_ += "\n";
+  return document_;
+}
+
+void FastWriter::writeValue(const Value& value) {
+  switch (value.type()) {
+  case nullValue:
+    if (!dropNullPlaceholders_)
+      document_ += "null";
+    break;
+  case intValue:
+    document_ += valueToString(value.asLargestInt());
+    break;
+  case uintValue:
+    document_ += valueToString(value.asLargestUInt());
+    break;
+  case realValue:
+    document_ += valueToString(value.asDouble());
+    break;
+  case stringValue:
+    document_ += valueToQuotedString(value.asCString());
+    break;
+  case booleanValue:
+    document_ += valueToString(value.asBool());
+    break;
+  case arrayValue: {
+    document_ += "[";
+    int size = value.size();
+    for (int index = 0; index < size; ++index) {
+      if (index > 0)
+        document_ += ",";
+      writeValue(value[index]);
+    }
+    document_ += "]";
+  } break;
+  case objectValue: {
+    Value::Members members(value.getMemberNames());
+    document_ += "{";
+    for (Value::Members::iterator it = members.begin(); it != members.end();
+         ++it) {
+      const std::string& name = *it;
+      if (it != members.begin())
+        document_ += ",";
+      document_ += valueToQuotedString(name.c_str());
+      document_ += yamlCompatiblityEnabled_ ? ": " : ":";
+      writeValue(value[name]);
+    }
+    document_ += "}";
+  } break;
+  }
+}
+
+// Class StyledWriter
+// //////////////////////////////////////////////////////////////////
+
+StyledWriter::StyledWriter()
+    : rightMargin_(74), indentSize_(3), addChildValues_() {}
+
+std::string StyledWriter::write(const Value& root) {
+  document_ = "";
+  addChildValues_ = false;
+  indentString_ = "";
+  writeCommentBeforeValue(root);
+  writeValue(root);
+  writeCommentAfterValueOnSameLine(root);
+  document_ += "\n";
+  return document_;
+}
+
+void StyledWriter::writeValue(const Value& value) {
+  switch (value.type()) {
+  case nullValue:
+    pushValue("null");
+    break;
+  case intValue:
+    pushValue(valueToString(value.asLargestInt()));
+    break;
+  case uintValue:
+    pushValue(valueToString(value.asLargestUInt()));
+    break;
+  case realValue:
+    pushValue(valueToString(value.asDouble()));
+    break;
+  case stringValue:
+    pushValue(valueToQuotedString(value.asCString()));
+    break;
+  case booleanValue:
+    pushValue(valueToString(value.asBool()));
+    break;
+  case arrayValue:
+    writeArrayValue(value);
+    break;
+  case objectValue: {
+    Value::Members members(value.getMemberNames());
+    if (members.empty())
+      pushValue("{}");
+    else {
+      writeWithIndent("{");
+      indent();
+      Value::Members::iterator it = members.begin();
+      for (;;) {
+        const std::string& name = *it;
+        const Value& childValue = value[name];
+        writeCommentBeforeValue(childValue);
+        writeWithIndent(valueToQuotedString(name.c_str()));
+        document_ += " : ";
+        writeValue(childValue);
+        if (++it == members.end()) {
+          writeCommentAfterValueOnSameLine(childValue);
+          break;
+        }
+        document_ += ",";
+        writeCommentAfterValueOnSameLine(childValue);
+      }
+      unindent();
+      writeWithIndent("}");
+    }
+  } break;
+  }
+}
+
+void StyledWriter::writeArrayValue(const Value& value) {
+  unsigned size = value.size();
+  if (size == 0)
+    pushValue("[]");
+  else {
+    bool isArrayMultiLine = isMultineArray(value);
+    if (isArrayMultiLine) {
+      writeWithIndent("[");
+      indent();
+      bool hasChildValue = !childValues_.empty();
+      unsigned index = 0;
+      for (;;) {
+        const Value& childValue = value[index];
+        writeCommentBeforeValue(childValue);
+        if (hasChildValue)
+          writeWithIndent(childValues_[index]);
+        else {
+          writeIndent();
+          writeValue(childValue);
+        }
+        if (++index == size) {
+          writeCommentAfterValueOnSameLine(childValue);
+          break;
+        }
+        document_ += ",";
+        writeCommentAfterValueOnSameLine(childValue);
+      }
+      unindent();
+      writeWithIndent("]");
+    } else // output on a single line
+    {
+      assert(childValues_.size() == size);
+      document_ += "[ ";
+      for (unsigned index = 0; index < size; ++index) {
+        if (index > 0)
+          document_ += ", ";
+        document_ += childValues_[index];
+      }
+      document_ += " ]";
+    }
+  }
+}
+
+bool StyledWriter::isMultineArray(const Value& value) {
+  int size = value.size();
+  bool isMultiLine = size * 3 >= rightMargin_;
+  childValues_.clear();
+  for (int index = 0; index < size && !isMultiLine; ++index) {
+    const Value& childValue = value[index];
+    isMultiLine =
+        isMultiLine || ((childValue.isArray() || childValue.isObject()) &&
+                        childValue.size() > 0);
+  }
+  if (!isMultiLine) // check if line length > max line length
+  {
+    childValues_.reserve(size);
+    addChildValues_ = true;
+    int lineLength = 4 + (size - 1) * 2; // '[ ' + ', '*n + ' ]'
+    for (int index = 0; index < size; ++index) {
+      writeValue(value[index]);
+      lineLength += int(childValues_[index].length());
+    }
+    addChildValues_ = false;
+    isMultiLine = isMultiLine || lineLength >= rightMargin_;
+  }
+  return isMultiLine;
+}
+
+void StyledWriter::pushValue(const std::string& value) {
+  if (addChildValues_)
+    childValues_.push_back(value);
+  else
+    document_ += value;
+}
+
+void StyledWriter::writeIndent() {
+  if (!document_.empty()) {
+    char last = document_[document_.length() - 1];
+    if (last == ' ') // already indented
+      return;
+    if (last != '\n') // Comments may add new-line
+      document_ += '\n';
+  }
+  document_ += indentString_;
+}
+
+void StyledWriter::writeWithIndent(const std::string& value) {
+  writeIndent();
+  document_ += value;
+}
+
+void StyledWriter::indent() { indentString_ += std::string(indentSize_, ' '); }
+
+void StyledWriter::unindent() {
+  assert(int(indentString_.size()) >= indentSize_);
+  indentString_.resize(indentString_.size() - indentSize_);
+}
+
+void StyledWriter::writeCommentBeforeValue(const Value& root) {
+  if (!root.hasComment(commentBefore))
+    return;
+
+  document_ += "\n";
+  writeIndent();
+  std::string normalizedComment = normalizeEOL(root.getComment(commentBefore));
+  std::string::const_iterator iter = normalizedComment.begin();
+  while (iter != normalizedComment.end()) {
+    document_ += *iter;
+    if (*iter == '\n' && *(iter + 1) == '/')
+      writeIndent();
+    ++iter;
+  }
+
+  // Comments are stripped of newlines, so add one here
+  document_ += "\n";
+}
+
+void StyledWriter::writeCommentAfterValueOnSameLine(const Value& root) {
+  if (root.hasComment(commentAfterOnSameLine))
+    document_ += " " + normalizeEOL(root.getComment(commentAfterOnSameLine));
+
+  if (root.hasComment(commentAfter)) {
+    document_ += "\n";
+    document_ += normalizeEOL(root.getComment(commentAfter));
+    document_ += "\n";
+  }
+}
+
+bool StyledWriter::hasCommentForValue(const Value& value) {
+  return value.hasComment(commentBefore) ||
+         value.hasComment(commentAfterOnSameLine) ||
+         value.hasComment(commentAfter);
+}
+
+std::string StyledWriter::normalizeEOL(const std::string& text) {
+  std::string normalized;
+  normalized.reserve(text.length());
+  const char* begin = text.c_str();
+  const char* end = begin + text.length();
+  const char* current = begin;
+  while (current != end) {
+    char c = *current++;
+    if (c == '\r') // mac or dos EOL
+    {
+      if (*current == '\n') // convert dos EOL
+        ++current;
+      normalized += '\n';
+    } else // handle unix EOL & other char
+      normalized += c;
+  }
+  return normalized;
+}
+
+// Class StyledStreamWriter
+// //////////////////////////////////////////////////////////////////
+
+StyledStreamWriter::StyledStreamWriter(std::string indentation)
+    : document_(NULL), rightMargin_(74), indentation_(indentation),
+      addChildValues_() {}
+
+void StyledStreamWriter::write(std::ostream& out, const Value& root) {
+  document_ = &out;
+  addChildValues_ = false;
+  indentString_ = "";
+  writeCommentBeforeValue(root);
+  writeValue(root);
+  writeCommentAfterValueOnSameLine(root);
+  *document_ << "\n";
+  document_ = NULL; // Forget the stream, for safety.
+}
+
+void StyledStreamWriter::writeValue(const Value& value) {
+  switch (value.type()) {
+  case nullValue:
+    pushValue("null");
+    break;
+  case intValue:
+    pushValue(valueToString(value.asLargestInt()));
+    break;
+  case uintValue:
+    pushValue(valueToString(value.asLargestUInt()));
+    break;
+  case realValue:
+    pushValue(valueToString(value.asDouble()));
+    break;
+  case stringValue:
+    pushValue(valueToQuotedString(value.asCString()));
+    break;
+  case booleanValue:
+    pushValue(valueToString(value.asBool()));
+    break;
+  case arrayValue:
+    writeArrayValue(value);
+    break;
+  case objectValue: {
+    Value::Members members(value.getMemberNames());
+    if (members.empty())
+      pushValue("{}");
+    else {
+      writeWithIndent("{");
+      indent();
+      Value::Members::iterator it = members.begin();
+      for (;;) {
+        const std::string& name = *it;
+        const Value& childValue = value[name];
+        writeCommentBeforeValue(childValue);
+        writeWithIndent(valueToQuotedString(name.c_str()));
+        *document_ << " : ";
+        writeValue(childValue);
+        if (++it == members.end()) {
+          writeCommentAfterValueOnSameLine(childValue);
+          break;
+        }
+        *document_ << ",";
+        writeCommentAfterValueOnSameLine(childValue);
+      }
+      unindent();
+      writeWithIndent("}");
+    }
+  } break;
+  }
+}
+
+void StyledStreamWriter::writeArrayValue(const Value& value) {
+  unsigned size = value.size();
+  if (size == 0)
+    pushValue("[]");
+  else {
+    bool isArrayMultiLine = isMultineArray(value);
+    if (isArrayMultiLine) {
+      writeWithIndent("[");
+      indent();
+      bool hasChildValue = !childValues_.empty();
+      unsigned index = 0;
+      for (;;) {
+        const Value& childValue = value[index];
+        writeCommentBeforeValue(childValue);
+        if (hasChildValue)
+          writeWithIndent(childValues_[index]);
+        else {
+          writeIndent();
+          writeValue(childValue);
+        }
+        if (++index == size) {
+          writeCommentAfterValueOnSameLine(childValue);
+          break;
+        }
+        *document_ << ",";
+        writeCommentAfterValueOnSameLine(childValue);
+      }
+      unindent();
+      writeWithIndent("]");
+    } else // output on a single line
+    {
+      assert(childValues_.size() == size);
+      *document_ << "[ ";
+      for (unsigned index = 0; index < size; ++index) {
+        if (index > 0)
+          *document_ << ", ";
+        *document_ << childValues_[index];
+      }
+      *document_ << " ]";
+    }
+  }
+}
+
+bool StyledStreamWriter::isMultineArray(const Value& value) {
+  int size = value.size();
+  bool isMultiLine = size * 3 >= rightMargin_;
+  childValues_.clear();
+  for (int index = 0; index < size && !isMultiLine; ++index) {
+    const Value& childValue = value[index];
+    isMultiLine =
+        isMultiLine || ((childValue.isArray() || childValue.isObject()) &&
+                        childValue.size() > 0);
+  }
+  if (!isMultiLine) // check if line length > max line length
+  {
+    childValues_.reserve(size);
+    addChildValues_ = true;
+    int lineLength = 4 + (size - 1) * 2; // '[ ' + ', '*n + ' ]'
+    for (int index = 0; index < size; ++index) {
+      writeValue(value[index]);
+      lineLength += int(childValues_[index].length());
+    }
+    addChildValues_ = false;
+    isMultiLine = isMultiLine || lineLength >= rightMargin_;
+  }
+  return isMultiLine;
+}
+
+void StyledStreamWriter::pushValue(const std::string& value) {
+  if (addChildValues_)
+    childValues_.push_back(value);
+  else
+    *document_ << value;
+}
+
+void StyledStreamWriter::writeIndent() {
+  /*
+    Some comments in this method would have been nice. ;-)
+
+   if ( !document_.empty() )
+   {
+      char last = document_[document_.length()-1];
+      if ( last == ' ' )     // already indented
+         return;
+      if ( last != '\n' )    // Comments may add new-line
+         *document_ << '\n';
+   }
+  */
+  *document_ << '\n' << indentString_;
+}
+
+void StyledStreamWriter::writeWithIndent(const std::string& value) {
+  writeIndent();
+  *document_ << value;
+}
+
+void StyledStreamWriter::indent() { indentString_ += indentation_; }
+
+void StyledStreamWriter::unindent() {
+  assert(indentString_.size() >= indentation_.size());
+  indentString_.resize(indentString_.size() - indentation_.size());
+}
+
+void StyledStreamWriter::writeCommentBeforeValue(const Value& root) {
+  if (!root.hasComment(commentBefore))
+    return;
+  *document_ << normalizeEOL(root.getComment(commentBefore));
+  *document_ << "\n";
+}
+
+void StyledStreamWriter::writeCommentAfterValueOnSameLine(const Value& root) {
+  if (root.hasComment(commentAfterOnSameLine))
+    *document_ << " " + normalizeEOL(root.getComment(commentAfterOnSameLine));
+
+  if (root.hasComment(commentAfter)) {
+    *document_ << "\n";
+    *document_ << normalizeEOL(root.getComment(commentAfter));
+    *document_ << "\n";
+  }
+}
+
+bool StyledStreamWriter::hasCommentForValue(const Value& value) {
+  return value.hasComment(commentBefore) ||
+         value.hasComment(commentAfterOnSameLine) ||
+         value.hasComment(commentAfter);
+}
+
+std::string StyledStreamWriter::normalizeEOL(const std::string& text) {
+  std::string normalized;
+  normalized.reserve(text.length());
+  const char* begin = text.c_str();
+  const char* end = begin + text.length();
+  const char* current = begin;
+  while (current != end) {
+    char c = *current++;
+    if (c == '\r') // mac or dos EOL
+    {
+      if (*current == '\n') // convert dos EOL
+        ++current;
+      normalized += '\n';
+    } else // handle unix EOL & other char
+      normalized += c;
+  }
+  return normalized;
+}
+
+std::ostream& operator<<(std::ostream& sout, const Value& root) {
+  Json::StyledStreamWriter writer;
+  writer.write(sout, root);
+  return sout;
+}
+
+} // namespace Json
+} // namespace VA
diff --git a/VrUtils/log4cpp/include/log4cpp/AbortAppender.hh b/VrUtils/log4cpp/include/log4cpp/AbortAppender.hh
new file mode 100644
index 0000000..a65c1a5
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/AbortAppender.hh
@@ -0,0 +1,46 @@
+/*
+ * AbortAppender.hh
+ *
+ * Copyright 2002, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2002, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_ABORTAPPENDER_HH
+#define _LOG4CPP_ABORTAPPENDER_HH
+
+#include 
+#include 
+
+namespace log4cpp {
+
+    /**
+     * This Appender causes the application to abort() upon the first append()
+     * call. 
+     *
+     * @since 0.3.5
+     **/
+    class LOG4CPP_EXPORT AbortAppender : public AppenderSkeleton {
+        public:
+
+        AbortAppender(const std::string& name);
+        virtual ~AbortAppender();
+        
+        virtual bool reopen();
+        virtual void close();
+
+        /**
+         * The AbortAppender does not layout.
+         * @returns false
+         **/
+        virtual bool requiresLayout() const;
+
+        virtual void setLayout(Layout* layout);
+
+        protected:        
+        virtual void _append(const LoggingEvent& event);
+    };
+}
+
+#endif // _LOG4CPP_ABORTAPPENDER_HH
diff --git a/VrUtils/log4cpp/include/log4cpp/Appender.hh b/VrUtils/log4cpp/include/log4cpp/Appender.hh
new file mode 100644
index 0000000..472c1ee
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/Appender.hh
@@ -0,0 +1,169 @@
+/*
+ * Appender.hh
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_APPENDER_HH
+#define _LOG4CPP_APPENDER_HH
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+    class LOG4CPP_EXPORT Filter;
+    
+    /**
+     *  Implement this interface for your own strategies for printing log
+     *  statements.
+     **/
+    class LOG4CPP_EXPORT Appender {
+		friend class Category;
+        public:
+        
+        /**
+         * Get a pointer to an exitsing Appender.
+         * @param name The name of the Appender to return.
+         * @returns a pointer to an existing Appender, or NULL if no appender
+         * with the specfied name exists.
+         **/
+        static Appender* getAppender(const std::string& name);
+        
+        /**
+         * Call reopen() on all existing Appenders.
+         * @returns true if all Appenders returned true on their reopen() call.
+         **/
+        static bool reopenAll();
+        
+        /**
+         * Call reopen() on all existing Appenders.
+         * @returns true if all Appenders returned true on their reopen() call.
+         **/
+        static void closeAll();
+        
+        protected:
+        /**
+         * Constructor for Appender. Will only be used in getAppender() (and
+         * in derived classes of course).
+         * @param name The name of this Appender.
+         **/
+        Appender(const std::string& name);
+        
+        public:
+        /**
+         * Destructor for Appender.
+         **/
+        virtual ~Appender();
+        
+        /**
+         * Log in Appender specific way.
+         * @param event  The LoggingEvent to log.
+         **/
+        virtual void doAppend(const LoggingEvent& event) = 0;
+        
+        /**
+         * Reopens the output destination of this Appender, e.g. the logfile
+         * or TCP socket.
+         * @returns false if an error occured during reopening, true otherwise.
+         **/
+        virtual bool reopen() = 0;
+        
+        /**
+         * Release any resources allocated within the appender such as file
+         * handles, network connections, etc.
+         **/
+        virtual void close() = 0;
+        
+        /**
+         * Check if the appender uses a layout.
+         *
+         * @returns true if the appender implementation requires a layout.
+         **/
+        virtual bool requiresLayout() const = 0;
+        
+        /**
+         * Set the Layout for this appender.
+         * @param layout The layout to use.
+         **/
+        virtual void setLayout(Layout* layout) = 0;
+        
+        /**
+         * Get the name of this appender. The name identifies the appender.
+         * @returns the name of the appender.
+         **/
+        inline const std::string& getName() const { return _name; };
+        
+        /**
+         * Set the threshold priority of this Appender. The Appender will not
+         * appender LoggingEvents with a priority lower than the threshold.
+         * Use Priority::NOTSET to disable threshold checking.
+         * @param priority The priority to set.
+         **/
+        virtual void setThreshold(Priority::Value priority) = 0;
+        
+        /**
+         * Get the threshold priority of this Appender.
+         * @returns the threshold
+         **/
+        virtual Priority::Value getThreshold() = 0;
+        
+        /**
+         * Set a Filter for this appender.
+         **/
+        virtual void setFilter(Filter* filter) = 0;
+        
+        /**
+         * Get the Filter for this appender.
+         * @returns the filter, or NULL if no filter has been set.
+         **/
+        virtual Filter* getFilter() = 0;
+        
+		private:
+        typedef std::map AppenderMap;
+
+        static AppenderMap& _getAllAppenders();
+        static void _deleteAllAppenders();
+		static void _deleteAllAppendersWOLock(std::vector &appenders);
+        static void _addAppender(Appender* appender);
+        static void _removeAppender(Appender* appender);
+
+        const std::string _name;
+
+		public:
+		class AppenderMapStorage {
+		public:
+			Appender::AppenderMap* _allAppenders;	// single shared instance, nifty-counter defensed
+	        threading::Mutex _appenderMapMutex;	// mutex protecting map from multiple thread access 
+
+			AppenderMapStorage();
+			~AppenderMapStorage();
+		};
+		class LOG4CPP_EXPORT AppenderMapStorageInitializer {
+		public:
+			AppenderMapStorageInitializer();
+			~AppenderMapStorageInitializer();
+		};
+		private:
+        static AppenderMapStorage &_appenderMapStorageInstance;
+    };
+
+	static Appender::AppenderMapStorageInitializer appenderMapStorageInitializer; // static initializer for every translation unit
+    typedef std::set AppenderSet;
+
+}
+
+#endif // _LOG4CPP_APPENDER_HH
diff --git a/VrUtils/log4cpp/include/log4cpp/AppenderSkeleton.hh b/VrUtils/log4cpp/include/log4cpp/AppenderSkeleton.hh
new file mode 100644
index 0000000..fa22190
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/AppenderSkeleton.hh
@@ -0,0 +1,111 @@
+/*
+ * AppenderSkeleton.hh
+ *
+ * Copyright 2001, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2001, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_APPENDERSKELETON_HH
+#define _LOG4CPP_APPENDERSKELETON_HH
+
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+
+    /**
+     * AppenderSkeleton is a helper class, simplifying implementation of
+     * Appenders: it already takes care of handling of Thresholds and 
+     * Filters. 
+     **/
+    class LOG4CPP_EXPORT AppenderSkeleton : public Appender {
+        protected:
+        /**
+         * Constructor for AppenderSkeleton. Will only be used in 
+         * getAppender() (and in derived classes of course).
+         * @param name The name of this Appender.
+         **/
+        AppenderSkeleton(const std::string& name);
+
+        public:
+        /**
+         * Destructor for AppenderSkeleton.
+         **/
+        virtual ~AppenderSkeleton();
+        
+        /**
+         * Log in Appender specific way. 
+         * @param event  The LoggingEvent to log. 
+         **/
+        virtual void doAppend(const LoggingEvent& event);
+
+        /**
+         * Reopens the output destination of this Appender, e.g. the logfile 
+         * or TCP socket.
+         * @returns false if an error occured during reopening, true otherwise.
+         **/
+        virtual bool reopen();
+
+        /**
+         * Release any resources allocated within the appender such as file
+         * handles, network connections, etc.
+         **/
+        virtual void close() = 0;
+
+        /**
+         * Check if the appender uses a layout.
+         * 
+         * @returns true if the appender implementation requires a layout.
+         **/
+        virtual bool requiresLayout() const = 0;
+
+        /**
+         * Set the Layout for this appender.
+         * @param layout The layout to use.
+         **/
+        virtual void setLayout(Layout* layout) = 0;
+
+        /**
+         * Set the threshold priority of this Appender. The Appender will not
+         * appender LoggingEvents with a priority lower than the threshold.
+         * Use Priority::NOTSET to disable threshold checking.
+         * @param priority The priority to set.
+         **/
+        virtual void setThreshold(Priority::Value priority);
+
+        /**
+         * Get the threshold priority of this Appender.
+         * @returns the threshold
+         **/
+        virtual Priority::Value getThreshold();
+
+        /**
+         * Set a Filter for this appender. 
+         **/
+        virtual void setFilter(Filter* filter);
+
+        /**
+         * Get the Filter for this appender.
+         * @returns the filter, or NULL if no filter has been set.
+         **/
+        virtual Filter* getFilter();
+
+        protected:
+        /**
+         * Log in Appender specific way. Subclasses of Appender should
+         * implement this method to perform actual logging.
+         * @param event  The LoggingEvent to log. 
+         **/
+        virtual void _append(const LoggingEvent& event) = 0;
+
+        
+        private:
+        Priority::Value _threshold;
+        Filter* _filter;
+    };
+}
+
+#endif // _LOG4CPP_APPENDERSKELETON_HH
diff --git a/VrUtils/log4cpp/include/log4cpp/AppendersFactory.hh b/VrUtils/log4cpp/include/log4cpp/AppendersFactory.hh
new file mode 100644
index 0000000..7c3a860
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/AppendersFactory.hh
@@ -0,0 +1,42 @@
+/*
+ * Copyright 2002, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2002, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+
+#if !defined(h_738a42b1_1502_4483_948a_a69e7bbbee6a)
+#define h_738a42b1_1502_4483_948a_a69e7bbbee6a
+
+#include 
+#include 
+#include 
+#include "Portability.hh"
+#include "Appender.hh"
+#include "FactoryParams.hh"
+
+namespace log4cpp
+{
+   class LOG4CPP_EXPORT AppendersFactory
+   {
+      public:
+         typedef FactoryParams params_t;
+         typedef std::auto_ptr (*create_function_t)(const params_t& params);
+
+         static AppendersFactory& getInstance();
+         void registerCreator(const std::string& class_name, create_function_t create_function);
+         std::auto_ptr create(const std::string& class_name, const params_t& params);
+         bool registered(const std::string& class_name) const;
+
+      private:
+         AppendersFactory(){};
+
+         typedef std::map creators_t;
+         typedef creators_t::const_iterator const_iterator;
+
+         creators_t creators_;
+   };
+}
+
+#endif // h_738a42b1_1502_4483_948a_a69e7bbbee6a
diff --git a/VrUtils/log4cpp/include/log4cpp/BasicConfigurator.hh b/VrUtils/log4cpp/include/log4cpp/BasicConfigurator.hh
new file mode 100644
index 0000000..cc482e1
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/BasicConfigurator.hh
@@ -0,0 +1,31 @@
+/*
+ * BasicConfigurator.hh
+ *
+ * Copyright 2002, Log4cpp Project. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+#ifndef _LOG4CPP_BASICCONFIGURATOR_HH
+#define _LOG4CPP_BASICCONFIGURATOR_HH
+
+#include 
+
+namespace log4cpp {
+
+    /**
+       This class implements a trivial default configuration for log4cpp:
+       it adds a FileAppender that logs to stdout and uses a BasicLayout to
+       the root Category.
+       @since 0.3.2
+     **/
+    class LOG4CPP_EXPORT BasicConfigurator {
+    public:
+
+        /**
+           Performs a minimal configuration of log4cpp.  
+         **/
+        static void configure();
+ };
+}
+
+#endif
diff --git a/VrUtils/log4cpp/include/log4cpp/BasicLayout.hh b/VrUtils/log4cpp/include/log4cpp/BasicLayout.hh
new file mode 100644
index 0000000..12a6b73
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/BasicLayout.hh
@@ -0,0 +1,34 @@
+/*
+ * BasicLayout.hh
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_BASICLAYOUT_HH
+#define _LOG4CPP_BASICLAYOUT_HH
+
+#include 
+#include 
+
+namespace log4cpp {
+
+    /**
+     * BasicLayout is a simple fixed format Layout implementation. 
+     **/
+    class LOG4CPP_EXPORT BasicLayout : public Layout {
+        public:
+        BasicLayout();
+        virtual ~BasicLayout();
+
+        /**
+         * Formats the LoggingEvent in BasicLayout style:

+         * "timeStamp priority category ndc: message"
+         **/
+        virtual std::string format(const LoggingEvent& event);
+    };        
+}
+
+#endif // _LOG4CPP_BASICLAYOUT_HH
diff --git a/VrUtils/log4cpp/include/log4cpp/BufferingAppender.hh b/VrUtils/log4cpp/include/log4cpp/BufferingAppender.hh
new file mode 100644
index 0000000..8035103
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/BufferingAppender.hh
@@ -0,0 +1,45 @@
+/*
+ * Copyright 2002, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2002, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#if !defined(h_ebd0ee89_622d_4af1_9a9d_d0e057debe86)
+#define h_ebd0ee89_622d_4af1_9a9d_d0e057debe86
+
+#include 
+#include 
+#include 
+#include 
+
+namespace log4cpp
+{
+   class LOG4CPP_EXPORT BufferingAppender : public LayoutAppender 
+   {
+      public:
+         BufferingAppender(const std::string name, unsigned long max_size, std::auto_ptr sink,
+                           std::auto_ptr evaluator);
+      
+         virtual void close() { sink_->close(); }
+         
+         bool getLossy() const { return lossy_; }
+         void setLossy(bool lossy) { lossy_ = lossy; }
+
+      protected:
+         virtual void _append(const LoggingEvent& event);
+
+      private:
+         typedef std::list queue_t;
+         
+         queue_t queue_;
+         unsigned long max_size_;
+         std::auto_ptr sink_;
+         std::auto_ptr evaluator_;
+         bool lossy_;
+
+         void dump();
+   };
+}
+
+#endif // h_ebd0ee89_622d_4af1_9a9d_d0e057debe86
diff --git a/VrUtils/log4cpp/include/log4cpp/Category.hh b/VrUtils/log4cpp/include/log4cpp/Category.hh
new file mode 100644
index 0000000..b3ff108
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/Category.hh
@@ -0,0 +1,675 @@
+/*
+ * Category.hh
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_CATEGORY_HH
+#define _LOG4CPP_CATEGORY_HH
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#include 
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+
+    /**
+     * This is the central class in the log4j package. One of the distintive
+     * features of log4j (and hence log4cpp) are hierarchal categories and 
+     * their evaluation.
+     **/   
+    class LOG4CPP_EXPORT Category {
+        friend class HierarchyMaintainer;
+
+        public:
+        /**
+         * Return the root of the Category hierarchy.
+         * 
+         * 
The root category is always instantiated and available. It's
+         * name is the empty string.
+           
+         * 
Unlike in log4j, calling Category.getInstance("")
+         * does retrieve the root category 
+         * and not a category just under root named "".
+         * @returns The root category
+         **/
+        static Category& getRoot();
+
+        /** 
+         * Set the priority of the root Category.
+         * @param priority The new priority for the root Category 
+         **/
+        static void setRootPriority(Priority::Value priority);
+
+        /** 
+         * Get the priority of the root Category.
+         * @returns the priority of the root category
+         **/
+        static Priority::Value getRootPriority() throw();
+
+        /**
+         * Instantiate a Category with name name. This
+         * method does not set priority of the category which is by
+         * default Priority::NOTSET.
+         * 
+         * @param name The name of the category to retrieve.
+         **/
+        static Category& getInstance(const std::string& name);
+            
+        /**
+         * If the named category exists (in the default hierarchy) then it
+         * returns a reference to the category, otherwise it returns NULL.
+         * @since 0.2.7
+         **/
+        static Category* exists(const std::string& name);
+
+        /**
+         * Returns all the currently defined categories as a vector of
+         * Category pointers. Note: this function does not pass ownership
+         * of the categories in the vector to the caller, only the ownership
+         * of the vector. However vector* is not legal C++,
+         * so we can't follow the default ownership conventions.
+         *
+         * 
Unlike in log4j, the root category is included 
+         * in the returned set.
+         *
+         * @since 0.3.2. Before 0.3.2 this method returned a std::set
+         **/
+        static std::vector* getCurrentCategories();
+
+        /**
+         * This method will remove all Appenders from Categories.XXX
+         **/
+        static void shutdown();
+
+        /**
+         * This method will remove all Appenders from Categories.XXX and delete all appenders.
+		 * Releases more memory than shutdown() by deleting appenders.
+         **/
+        static void shutdownForced();
+
+		/**
+         * Destructor for Category.
+         **/
+        virtual ~Category();
+        
+        /**
+         * Return the category name.
+         * @returns The category name.
+        */       
+        virtual const std::string& getName() const throw(); 
+        
+        /**
+         * Set the priority of this Category.
+         * @param priority The priority to set. Use Priority::NOTSET to let 
+         * the category use its parents priority as effective priority.
+         * @exception std::invalid_argument if the caller tries to set
+         * Priority::NOTSET on the Root Category.
+         **/
+        virtual void setPriority(Priority::Value priority);
+
+        /**
+         * Returns the assigned Priority, if any, for this Category.
+         * @return Priority - the assigned Priority, can be Priority::NOTSET
+         **/
+        virtual Priority::Value getPriority() const throw();
+
+        /**
+         * Starting from this Category, search the category hierarchy for a
+         * set priority and return it. Otherwise, return the priority 
+         *  of the root category.
+         * 
+         * 
The Category class is designed so that this method executes as
+         * quickly as possible.
+         **/
+        virtual Priority::Value getChainedPriority() const throw();
+
+        /** 
+         * Returns true if the chained priority of the Category is equal to
+         * or higher than given priority.
+         * @param priority The priority to compare with.
+         * @returns whether logging is enable for this priority.
+         **/
+        virtual bool isPriorityEnabled(Priority::Value priority) const throw();
+        
+        /**
+         * Adds an Appender to this Category.
+         * This method passes ownership from the caller to the Category.
+         * @since 0.2.7
+         * @param appender The Appender to wich this category has to log.
+         * @exception std::invalid_argument if the appender is NULL.
+         **/
+        virtual void addAppender(Appender* appender);
+
+        /**
+         * Adds an Appender for this Category.
+         * This method does not pass ownership from the caller to the Category.
+         * @since 0.2.7
+         * @param appender The Appender this category has to log to.
+         **/
+        virtual void addAppender(Appender& appender);
+
+        /**
+         * Adds an Appender to this Category.
+         * This method passes ownership from the caller to the Category.
+         * @deprecated use addAppender(Appender*) or removeAllAppenders() 
+         * instead.
+         * @param appender The Appender this category has to log to or NULL
+         * to remove the current Appenders.
+         **/
+        inline void setAppender(Appender* appender) {
+            if (appender) {
+                addAppender(appender);
+            } else {
+                removeAllAppenders();
+            }
+        };
+
+        /**
+         * Adds an Appender for this Category.
+         * This method does not pass ownership from the caller to the Category.
+         * @deprecated use addAppender(Appender&) instead.
+         * @param appender The Appender this category has to log to.
+         **/
+        inline void setAppender(Appender& appender) {
+            addAppender(appender);
+        };
+
+        /**
+         * Returns the first Appender for this Category, or NULL if no
+         * Appender has been set.
+         * @deprecated use getAppender(const std::string&)
+         * @returns The Appender.
+         **/
+        virtual Appender* getAppender() const;
+
+        /**
+         * Returns the specified Appender for this Category, or NULL if 
+         * the Appender is not attached to this Category.
+         * @since 0.2.7
+         * @returns The Appender.
+         **/
+        virtual Appender* getAppender(const std::string& name) const;
+
+        /**
+         * Returns the set of Appenders currently attached to this Catogory.
+         * @since 0.3.1
+         * @returns The set of attached Appenders.
+         **/
+        virtual AppenderSet getAllAppenders() const;
+
+        /**
+         * Removes all appenders for this Category.
+         **/
+        virtual void removeAllAppenders();
+
+        /**
+         * Removes specified appender for this Category.
+         * @since 0.2.7
+         **/
+        virtual void removeAppender(Appender* appender);
+
+        /**
+         * Returns true if the Category owns the first Appender in its
+         * Appender set. In that case the Category destructor will delete
+         * the Appender.
+         * @deprecated use ownsAppender(Appender*)
+         **/
+        virtual bool ownsAppender() const throw() {
+            return ownsAppender(getAppender());
+        };
+
+        /**
+         * Returns true if the Category owns the Appender. In that case the
+         * Category destructor will delete the Appender.
+         * @since 0.2.7
+         **/
+        virtual bool ownsAppender(Appender* appender) const throw();
+
+        /**
+         * Call the appenders in the hierarchy starting at
+         *  this.  If no appenders could be found, emit a
+         * warning.
+         * 
+         * 
This method always calls all the appenders inherited form the
+         * hierracy circumventing any evaluation of whether to log or not to
+         * log the particular log request.
+         * 
+         * @param event the LogginEvent to log.
+         **/
+        virtual void callAppenders(const LoggingEvent& event) throw();
+        
+        /**
+         * Set the additivity flag for this Category instance.
+         **/
+        virtual void setAdditivity(bool additivity);
+
+        /**
+         * Returns the additivity flag for this Category instance.
+         **/        
+        virtual bool getAdditivity() const throw();
+
+        /**
+         * Returns the parent category of this category, or NULL
+         * if the category is the root category.
+         * @return the parent category.
+         **/
+        virtual Category* getParent() throw();
+
+        /**
+         * Returns the parent category of this category, or NULL
+         * if the category is the root category.
+         * @return the parent category.
+         **/
+        virtual const Category* getParent() const throw();
+
+        /** 
+         * Log a message with the specified priority.
+         * @param priority The priority of this log message.
+         * @param stringFormat Format specifier for the string to write 
+         * in the log file.
+         * @param ... The arguments for stringFormat 
+         **/  
+        virtual void log(Priority::Value priority, const char* stringFormat,
+                         ...) throw();
+
+        /** 
+         * Log a message with the specified priority.
+         * @param priority The priority of this log message.
+         * @param message string to write in the log file
+         **/  
+        virtual void log(Priority::Value priority, 
+                         const std::string& message) throw();
+        
+        /** 
+         * Log a message with the specified priority.
+         * @since 0.2.7
+         * @param priority The priority of this log message.
+         * @param stringFormat Format specifier for the string to write
+         * in the log file.
+         * @param va The arguments for stringFormat.
+         **/  
+        virtual void logva(Priority::Value priority, 
+                           const char* stringFormat,
+                           va_list va) throw();
+        
+        /** 
+         * Log a message with debug priority.
+         * @param stringFormat Format specifier for the string to write 
+         * in the log file.
+         * @param ... The arguments for stringFormat 
+         **/  
+        void debug(const char* stringFormat, ...) throw();
+
+        /** 
+         * Log a message with debug priority.
+         * @param message string to write in the log file
+         **/  
+        void debug(const std::string& message) throw();
+
+        /**
+         * Return true if the Category will log messages with priority DEBUG.
+         * @returns Whether the Category will log.
+         **/ 
+        inline bool isDebugEnabled() const throw() { 
+            return isPriorityEnabled(Priority::DEBUG);
+        };
+        
+        /**
+         * Return a CategoryStream with priority DEBUG.
+         * @returns The CategoryStream.
+         **/
+        inline CategoryStream debugStream() {
+            return getStream(Priority::DEBUG);
+        }
+
+        /** 
+         * Log a message with info priority.
+         * @param stringFormat Format specifier for the string to write 
+         * in the log file.
+         * @param ... The arguments for stringFormat 
+         **/  
+        void info(const char* stringFormat, ...) throw();
+
+        /** 
+         * Log a message with info priority.
+         * @param message string to write in the log file
+         **/  
+        void info(const std::string& message) throw();
+
+        /**
+         * Return true if the Category will log messages with priority INFO.
+         * @returns Whether the Category will log.
+         **/ 
+        inline bool isInfoEnabled() const throw() { 
+            return isPriorityEnabled(Priority::INFO);
+        };
+
+        /**
+         * Return a CategoryStream with priority INFO.
+         * @returns The CategoryStream.
+         **/
+        inline CategoryStream infoStream() {
+            return getStream(Priority::INFO);
+        }
+        
+        /** 
+         * Log a message with notice priority.
+         * @param stringFormat Format specifier for the string to write 
+         * in the log file.
+         * @param ... The arguments for stringFormat 
+         **/  
+        void notice(const char* stringFormat, ...) throw();
+
+        /** 
+         * Log a message with notice priority.
+         * @param message string to write in the log file
+         **/  
+        void notice(const std::string& message) throw();
+
+        /**
+         * Return true if the Category will log messages with priority NOTICE.
+         * @returns Whether the Category will log.
+         **/ 
+        inline bool isNoticeEnabled() const throw() { 
+            return isPriorityEnabled(Priority::NOTICE);
+        };
+
+        /**
+         * Return a CategoryStream with priority NOTICE.
+         * @returns The CategoryStream.
+         **/
+        inline CategoryStream noticeStream() {
+            return getStream(Priority::NOTICE);
+        }
+        
+        /** 
+         * Log a message with warn priority.
+         * @param stringFormat Format specifier for the string to write 
+         * in the log file.
+         * @param ... The arguments for stringFormat 
+         **/  
+        void warn(const char* stringFormat, ...) throw();
+
+        /** 
+         * Log a message with warn priority.
+         * @param message string to write in the log file
+         **/  
+        void warn(const std::string& message) throw();
+
+        /**
+         * Return true if the Category will log messages with priority WARN.
+         * @returns Whether the Category will log.
+         **/ 
+        inline bool isWarnEnabled() const throw() { 
+            return isPriorityEnabled(Priority::WARN);
+        };
+
+        /**
+         * Return a CategoryStream with priority WARN.
+         * @returns The CategoryStream.
+         **/
+        inline CategoryStream warnStream() {
+            return getStream(Priority::WARN);
+        };
+        
+        /** 
+         * Log a message with error priority.
+         * @param stringFormat Format specifier for the string to write 
+         * in the log file.
+         * @param ... The arguments for stringFormat 
+         **/  
+        void error(const char* stringFormat, ...) throw();
+
+        /** 
+         * Log a message with error priority.
+         * @param message string to write in the log file
+         **/  
+        void error(const std::string& message) throw();
+
+        /**
+         * Return true if the Category will log messages with priority ERROR.
+         * @returns Whether the Category will log.
+         **/ 
+        inline bool isErrorEnabled() const throw() { 
+            return isPriorityEnabled(Priority::ERROR);
+        };
+        
+        /**
+         * Return a CategoryStream with priority ERROR.
+         * @returns The CategoryStream.
+         **/
+        inline CategoryStream errorStream() {
+            return getStream(Priority::ERROR);
+        };
+
+        /** 
+         * Log a message with crit priority.
+         * @param stringFormat Format specifier for the string to write 
+         * in the log file.
+         * @param ... The arguments for stringFormat 
+         **/  
+        void crit(const char* stringFormat, ...) throw();
+
+        /** 
+         * Log a message with crit priority.
+         * @param message string to write in the log file
+         **/  
+        void crit(const std::string& message) throw();
+
+        /**
+         * Return true if the Category will log messages with priority CRIT.
+         * @returns Whether the Category will log.
+         **/ 
+        inline bool isCritEnabled() const throw() { 
+            return isPriorityEnabled(Priority::CRIT);
+        };
+        
+        /**
+         * Return a CategoryStream with priority CRIT.
+         * @returns The CategoryStream.
+         **/
+        inline CategoryStream critStream() {
+            return getStream(Priority::CRIT);
+        };
+        
+        /** 
+         * Log a message with alert priority.
+         * @param stringFormat Format specifier for the string to write 
+         * in the log file.
+         * @param ... The arguments for stringFormat 
+         **/  
+        void alert(const char* stringFormat, ...) throw();
+
+        /** 
+         * Log a message with alert priority.
+         * @param message string to write in the log file
+         **/  
+        void alert(const std::string& message) throw();
+
+        /**
+         * Return true if the Category will log messages with priority ALERT.
+         * @returns Whether the Category will log.
+         **/ 
+        inline bool isAlertEnabled() const throw() { 
+            return isPriorityEnabled(Priority::ALERT);
+        };
+        
+        /**
+         * Return a CategoryStream with priority ALERT.
+         * @returns The CategoryStream.
+         **/
+        inline CategoryStream alertStream() throw() {
+            return getStream(Priority::ALERT);
+        };
+
+        /** 
+         * Log a message with emerg priority.
+         * @param stringFormat Format specifier for the string to write 
+         * in the log file.
+         * @param ... The arguments for stringFormat 
+         **/  
+        void emerg(const char* stringFormat, ...) throw();
+
+        /** 
+         * Log a message with emerg priority.
+         * @param message string to write in the log file
+         **/  
+        void emerg(const std::string& message) throw();
+
+        /**
+         * Return true if the Category will log messages with priority EMERG.
+         * @returns Whether the Category will log.
+         **/ 
+        inline bool isEmergEnabled() const throw() { 
+            return isPriorityEnabled(Priority::EMERG);
+        };
+        
+        /**
+         * Return a CategoryStream with priority EMERG.
+         * @returns The CategoryStream.
+         **/
+        inline CategoryStream emergStream() {
+            return getStream(Priority::EMERG);
+        };
+
+        /** 
+         * Log a message with fatal priority. 
+         * NB. priority 'fatal' is equivalent to 'emerg'.
+         * @since 0.2.7
+         * @param stringFormat Format specifier for the string to write 
+         * in the log file.
+         * @param ... The arguments for stringFormat 
+         **/  
+        void fatal(const char* stringFormat, ...) throw();
+
+        /** 
+         * Log a message with fatal priority.
+         * NB. priority 'fatal' is equivalent to 'emerg'.
+         * @since 0.2.7
+         * @param message string to write in the log file
+         **/  
+        void fatal(const std::string& message) throw();
+
+        /**
+         * Return true if the Category will log messages with priority FATAL.
+         * NB. priority 'fatal' is equivalent to 'emerg'.
+         * @since 0.2.7
+         * @returns Whether the Category will log.
+         **/ 
+        inline bool isFatalEnabled() const throw() { 
+            return isPriorityEnabled(Priority::FATAL);
+        };
+        
+        /**
+         * Return a CategoryStream with priority FATAL.
+         * NB. priority 'fatal' is equivalent to 'emerg'.
+         * @since 0.2.7
+         * @returns The CategoryStream.
+         **/
+        inline CategoryStream fatalStream() {
+            return getStream(Priority::FATAL);
+        };
+
+        /**
+         * Return a CategoryStream with given Priority.
+         * @param priority The Priority of the CategoryStream.
+         * @returns The requested CategoryStream.
+         **/
+        virtual CategoryStream getStream(Priority::Value priority);
+
+        /**
+         * Return a CategoryStream with given Priority.
+         * @param priority The Priority of the CategoryStream.
+         * @returns The requested CategoryStream.
+         **/
+        virtual CategoryStream operator<<(Priority::Value priority);
+
+        protected:
+
+        /**
+         * Constructor 
+         * @param name the fully qualified name of this Category
+         * @param parent the parent of this parent, or NULL for the root 
+         * Category
+         * @param priority the priority for this Category. Defaults to
+         * Priority::NOTSET
+         **/
+        Category(const std::string& name, Category* parent, 
+                                Priority::Value priority = Priority::NOTSET);
+        
+        virtual void _logUnconditionally(Priority::Value priority, 
+                                         const char* format, 
+                                         va_list arguments) throw();
+        
+        /** 
+         * Unconditionally log a message with the specified priority.
+         * @param priority The priority of this log message.
+         * @param message string to write in the log file
+         **/  
+        virtual void _logUnconditionally2(Priority::Value priority, 
+                                          const std::string& message) throw();
+
+        private:
+
+        /* prevent copying and assignment */
+        Category(const Category& other);
+        Category& operator=(const Category& other);
+
+        /** The name of this category. */
+        const std::string _name;
+
+        /**
+         * The parent of this category. All categories have al least one
+         * ancestor which is the root category. 
+         **/
+        Category* _parent;
+
+        /**
+         *  The assigned priority of this category. 
+         **/
+        volatile Priority::Value _priority;
+
+        typedef std::map OwnsAppenderMap;
+
+        /**
+         * Returns the iterator to the Appender if the Category owns the
+         * Appender. In that case the Category destructor will delete the
+         * Appender.
+         **/
+
+        virtual bool ownsAppender(Appender* appender, 
+                                  OwnsAppenderMap::iterator& i2) throw();
+
+        AppenderSet _appender;
+        mutable threading::Mutex _appenderSetMutex;
+
+        /**
+         * Whether the category holds the ownership of the appender. If so,
+         * it deletes the appender in its destructor.
+         **/
+        
+        OwnsAppenderMap _ownsAppender;
+
+        /** 
+         * Additivity is set to true by default, i.e. a child inherits its
+         * ancestor's appenders by default. 
+         */
+        volatile bool _isAdditive;
+
+    };
+
+}
+#endif // _LOG4CPP_CATEGORY_HH
diff --git a/VrUtils/log4cpp/include/log4cpp/CategoryStream.hh b/VrUtils/log4cpp/include/log4cpp/CategoryStream.hh
new file mode 100644
index 0000000..8ae874e
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/CategoryStream.hh
@@ -0,0 +1,146 @@
+/*
+ * CategoryStream.hh
+ *
+ * Copyright 2001, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2001, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_CATEGORYSTREAM_HH
+#define _LOG4CPP_CATEGORYSTREAM_HH
+
+#include 
+#include 
+#include 
+#ifdef LOG4CPP_HAVE_SSTREAM
+#include 
+#endif
+#include 
+
+namespace log4cpp {
+
+    class LOG4CPP_EXPORT Category;
+    class LOG4CPP_EXPORT CategoryStream;    
+    /**
+     * eol manipulator
+     **/
+    LOG4CPP_EXPORT CategoryStream& eol (CategoryStream& os);
+
+    /**
+     * left manipulator
+     **/
+    LOG4CPP_EXPORT CategoryStream& left (CategoryStream& os);
+
+    /**
+     * This class enables streaming simple types and objects to a category.
+     * Use category.errorStream(), etc. to obtain a CategoryStream class.
+     **/
+    class LOG4CPP_EXPORT CategoryStream {
+        public:
+
+        /**
+         * Construct a CategoryStream for given Category with given priority.
+         * @param category The category this stream will send log messages to.
+         * @param priority The priority the log messages will get or 
+         * Priority::NOTSET to silently discard any streamed in messages.
+         **/
+        CategoryStream(Category& category, Priority::Value priority);
+
+        /**
+         * Destructor for CategoryStream
+         **/
+        ~CategoryStream();
+        
+        /**
+         * Returns the destination Category for this stream.
+         * @returns The Category.
+         **/
+        inline Category& getCategory() const { return _category; };
+
+        /**
+         * Returns the priority for this stream.
+         * @returns The priority.
+         **/
+        inline Priority::Value getPriority() const throw() { 
+            return _priority; 
+        };
+
+        /**
+         * Flush the contents of the stream buffer to the Category and
+         * empties the buffer.
+         **/
+        void flush();
+
+        /**
+         * Stream in arbitrary types and objects.  
+         * @param t The value or object to stream in.
+         * @returns A reference to itself.
+         **/
+		  template 
+        CategoryStream& operator<<(const T& t) {
+            if (getPriority() != Priority::NOTSET) {
+                if (!_buffer) {
+					if (!(_buffer = new std::ostringstream)) {
+                        // XXX help help help
+                    }
+                }
+                (*_buffer) << t;
+            }
+            return *this;
+        }
+	   
+        CategoryStream& operator<<(const char* t);
+
+	     template 
+ 	     CategoryStream& operator<<(const std::string& t) {
+            if (getPriority() != Priority::NOTSET) {
+                if (!_buffer) {
+                    if (!(_buffer = new std::ostringstream)) {
+                        // XXX help help help
+                    }
+                }
+                (*_buffer) << t;
+            }
+            return *this;
+        }
+#if LOG4CPP_HAS_WCHAR_T != 0
+        template 
+        CategoryStream& operator<<(const std::wstring& t) {
+            if (getPriority() != Priority::NOTSET) {
+                if (!_wbuffer) {
+                    if (!(_wbuffer = new std::wostringstream)) {
+                        // XXX help help help
+                    }
+                }
+                (*_wbuffer) << t;
+            }
+            return *this;
+        }
+#endif
+        /**
+         * Set the width output on CategoryStream
+         **/
+		  std::streamsize width(std::streamsize wide );
+
+
+        private:
+        Category& _category;
+        Priority::Value _priority;
+	     union {
+	         std::ostringstream* _buffer;
+#if LOG4CPP_HAS_WCHAR_T != 0
+            std::wostringstream* _wbuffer;
+#endif
+        };
+
+	     public:
+	     typedef CategoryStream& (*cspf) (CategoryStream&);
+
+	     CategoryStream& operator << (cspf);
+        LOG4CPP_EXPORT friend CategoryStream& eol (CategoryStream& os);
+        LOG4CPP_EXPORT friend CategoryStream& left (CategoryStream& os);
+   };
+}
+
+#endif // _LOG4CPP_CATEGORYSTREAM_HH
diff --git a/VrUtils/log4cpp/include/log4cpp/Configurator.hh b/VrUtils/log4cpp/include/log4cpp/Configurator.hh
new file mode 100644
index 0000000..eb3f72c
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/Configurator.hh
@@ -0,0 +1,31 @@
+/*
+ * Configurator.hh
+ *
+ * Copyright 2001, Glen Scott. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+#ifndef _LOG4CPP_CONFIGURATOR_HH
+#define _LOG4CPP_CONFIGURATOR_HH
+
+#include 
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+
+    /**
+     * Exception class for configuration.
+     */
+    class LOG4CPP_EXPORT ConfigureFailure : public std::runtime_error {
+        public:
+        /**
+         * Constructor.
+         * @param reason String containing the description of the exception.
+         */
+        ConfigureFailure(const std::string& reason);
+    };
+}
+
+#endif // _LOG4CPP_CONFIGURATOR_HH
diff --git a/VrUtils/log4cpp/include/log4cpp/DailyRollingFileAppender.hh b/VrUtils/log4cpp/include/log4cpp/DailyRollingFileAppender.hh
new file mode 100644
index 0000000..e11a4ee
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/DailyRollingFileAppender.hh
@@ -0,0 +1,45 @@
+/*
+ * DailyRollingFileAppender.hh
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_DAILYROLLINGFILEAPPENDER_HH
+#define _LOG4CPP_DAILYROLLINGFILEAPPENDER_HH
+
+#include 
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+
+    /**
+       DailyRollingFileAppender is a FileAppender that rolls over the logfile once
+       the next day starts.
+       @since 1.1.2
+    **/
+    class LOG4CPP_EXPORT DailyRollingFileAppender : public FileAppender {
+        public:
+        DailyRollingFileAppender(const std::string& name,
+                            const std::string& fileName,
+                            unsigned int maxDaysToKeep = maxDaysToKeepDefault,
+                            bool append = true,
+                            mode_t mode = 00644);
+
+        virtual void setMaxDaysToKeep(unsigned int maxDaysToKeep);
+        virtual unsigned int getMaxDaysToKeep() const;
+
+        virtual void rollOver();
+
+        static unsigned int maxDaysToKeepDefault;
+        protected:
+        virtual void _append(const LoggingEvent& event);
+
+        unsigned int _maxDaysToKeep;
+        // last log's file creation time (or last modification if appender just created)
+        struct tm _logsTime;
+    };
+}
+
+#endif // _LOG4CPP_DAILYROLLINGFILEAPPENDER_HH
diff --git a/VrUtils/log4cpp/include/log4cpp/Export.hh b/VrUtils/log4cpp/include/log4cpp/Export.hh
new file mode 100644
index 0000000..c7d1c1a
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/Export.hh
@@ -0,0 +1,30 @@
+/*
+ * Copyright 2002, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2002, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_EXPORT_HH
+#define _LOG4CPP_EXPORT_HH
+
+#ifdef LOG4CPP_HAS_DLL
+#	ifdef LOG4CPP_BUILD_DLL
+#		if defined(_MSC_VER) || defined(__BORLANDC__) || defined(__MINGW32__)
+#			define LOG4CPP_EXPORT __declspec(dllexport)
+#               else
+#			define LOG4CPP_EXPORT
+#               endif 
+#	else
+#		if defined(_MSC_VER) || defined(__BORLANDC__) || defined(__MINGW32__)
+#			define LOG4CPP_EXPORT __declspec(dllimport)
+#               else
+#			define LOG4CPP_EXPORT
+#               endif 
+#	endif
+#else
+#	define LOG4CPP_EXPORT 
+#endif
+
+#endif // _LOG4CPP_EXPORT_HH
+
diff --git a/VrUtils/log4cpp/include/log4cpp/FactoryParams.hh b/VrUtils/log4cpp/include/log4cpp/FactoryParams.hh
new file mode 100644
index 0000000..22212fe
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/FactoryParams.hh
@@ -0,0 +1,158 @@
+/*
+ * Copyright 2002, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2002, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#if !defined(h_3e645482_ae6a_43e5_8f81_abbc4200212d)
+#define h_3e645482_ae6a_43e5_8f81_abbc4200212d
+
+#include 
+#include 
+#include 
+#include 
+#include "Portability.hh"
+
+namespace log4cpp
+{
+   class FactoryParams;
+   namespace details
+   {
+      class base_validator_data
+      {
+         public:
+            base_validator_data(const char* tag, const FactoryParams* params) : tag_(tag), params_(params){}
+
+         protected:
+            const char* tag_;
+            const FactoryParams* params_;
+
+            template
+            void assign(const std::string& param_value, T& value) const
+            {
+               assign_impl(param_value, value);
+            }
+
+            template
+            void assign_impl(const std::string& param_value, T& value) const
+            {
+               std::stringstream s;
+               s << param_value;
+               s >> value;
+            }
+
+            void assign_impl(const std::string& param_value, std::string& value) const
+            {
+               value = param_value;
+            }
+
+            void throw_error(const char* param_name) const
+            {
+               std::stringstream s;
+               s << "Property '" << param_name << "' required to configure " << tag_;
+               throw std::runtime_error(s.str());
+            }
+      };
+
+      class parameter_validator;
+   }
+
+   class LOG4CPP_EXPORT FactoryParams
+   {
+         typedef std::map storage_t;
+		 
+	 		    storage_t storage_;
+      
+      public:
+         typedef storage_t::const_iterator const_iterator;
+
+         const std::string& operator[](const std::string& v) const;
+         std::string& operator[](const std::string& v) { return storage_[v]; }
+         details::parameter_validator get_for(const char* tag) const;
+         const_iterator find(const std::string& t) const;
+         const_iterator begin() const { return storage_.begin(); }
+         const_iterator end() const { return storage_.end(); }
+   };
+
+   namespace details
+   {
+      class optional_params_validator;
+      class required_params_validator : public base_validator_data
+      {
+         public:
+            required_params_validator(const char* tag, const FactoryParams* params) : base_validator_data(tag, params) {}
+
+#if defined(_MSC_VER) && _MSC_VER < 1300
+            template
+            optional_params_validator optional(const char* param, T& value) const { optional_params_validator v(tag_, params_); v(param, value); return v; }
+#else
+            template
+            optional_params_validator optional(const char* param, T& value) const;
+#endif
+            
+            template
+            const required_params_validator& operator()(const char* param, T& value) const
+            {
+               FactoryParams::const_iterator i = params_->find(param);
+               if (i != params_->end())
+                  assign(i->second, value);
+               else
+                  throw_error(param);
+
+               return *this;
+            }
+
+      };
+      
+      class optional_params_validator : public base_validator_data
+      {
+         public:
+            optional_params_validator(const char* tag, const FactoryParams* params) : base_validator_data(tag, params) {}
+
+            template
+            required_params_validator required(const char* param, T& value) const { required_params_validator v(tag_, params_); v(param, value); return v; }
+
+            template
+            const optional_params_validator& operator()(const char* param, T& value) const
+            {
+               FactoryParams::const_iterator i = params_->find(param);
+               if (i != params_->end())
+                  assign(i->second, value);
+
+               return *this;
+
+            }
+      };
+
+      class parameter_validator : public base_validator_data
+      {
+         public:
+            parameter_validator(const char* tag, const FactoryParams* params) : base_validator_data(tag, params) {}
+
+            template
+            required_params_validator required(const char* param, T& value) const { required_params_validator v(tag_, params_); v(param, value); return v; }
+
+            template
+            optional_params_validator optional(const char* param, T& value) const { optional_params_validator v(tag_, params_); v(param, value); return v; }
+      };
+
+#if !(defined(_MSC_VER) && _MSC_VER < 1300)
+      template
+      optional_params_validator 
+      required_params_validator::optional(const char* param, T& value) const 
+      { 
+         optional_params_validator v(tag_, params_); 
+         v(param, value); 
+         return v; 
+      }
+#endif
+   }
+
+   inline details::parameter_validator FactoryParams::get_for(const char* tag) const 
+   {
+      return details::parameter_validator(tag, this); 
+   }
+}
+
+#endif // h_3e645482_ae6a_43e5_8f81_abbc4200212d
diff --git a/VrUtils/log4cpp/include/log4cpp/FileAppender.hh b/VrUtils/log4cpp/include/log4cpp/FileAppender.hh
new file mode 100644
index 0000000..7940777
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/FileAppender.hh
@@ -0,0 +1,92 @@
+/*
+ * FileAppender.hh
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_FILEAPPENDER_HH
+#define _LOG4CPP_FILEAPPENDER_HH
+
+#include 
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+
+    class LOG4CPP_EXPORT FileAppender : public LayoutAppender {
+        public:
+
+        /**
+           Constructs a FileAppender.
+           @param name the name of the Appender.
+           @param fileName the name of the file to which the Appender has 
+           to log.
+           @param append whether the Appender has to truncate the file or
+           just append to it if it already exists. Defaults to 'true'.
+           @param mode file mode to open the logfile with. Defaults to 00644.
+        **/  
+        FileAppender(const std::string& name, const std::string& fileName,
+                     bool append = true, mode_t mode = 00644);
+
+        /**
+           Constructs a FileAppender to an already open file descriptor.
+           @param name the name of the Appender.
+           @param fd the file descriptor to which the Appender has to log.
+        **/
+        FileAppender(const std::string& name, int fd);
+        virtual ~FileAppender();
+        
+        /**
+           Reopens the logfile. 
+           This can be useful for logfiles that are rotated externally,
+           e.g. by logrotate. This method is a NOOP for FileAppenders that
+           have been constructed with a file descriptor.           
+           @returns true if the reopen succeeded.
+        **/
+        virtual bool reopen();
+
+        /**
+           Closes the logfile.
+        **/
+        virtual void close();
+
+        /**
+           Sets the append vs truncate flag.
+           NB. currently the FileAppender opens the logfile in the 
+           constructor. Therefore this method is too late to influence the 
+           first file opening. We'll need something similar to log4j's
+           activateOptions().
+           @param append false to truncate, true to append
+        **/
+        virtual void setAppend(bool append);
+
+        /**
+           Gets the value of the 'append' option.
+        **/
+        virtual bool getAppend() const;
+
+        /**
+           Sets the file open mode.
+        **/
+        virtual void setMode(mode_t mode);
+
+        /**
+           Gets the file open mode.
+        **/
+        virtual mode_t getMode() const;
+
+        protected:
+        virtual void _append(const LoggingEvent& event);
+
+        const std::string _fileName;
+        int _fd;
+        int _flags;
+        mode_t _mode;
+    };
+}
+
+#endif // _LOG4CPP_FILEAPPENDER_HH
diff --git a/VrUtils/log4cpp/include/log4cpp/Filter.hh b/VrUtils/log4cpp/include/log4cpp/Filter.hh
new file mode 100644
index 0000000..3033056
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/Filter.hh
@@ -0,0 +1,119 @@
+/*
+ * Filter.hh
+ *
+ * Copyright 2001, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2001, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_FILTER_HH
+#define _LOG4CPP_FILTER_HH
+
+#include 
+#include 
+
+namespace log4cpp {
+
+    /**
+       Users should extend this class to implement customized logging
+       event filtering. Note that log4cpp::Category and
+       lof4cpp::Appender have built-in filtering rules. It is suggested 
+       that you first use and understand the built-in rules before rushing 
+       to write your own custom filters.
+
+       
This abstract class assumes and also imposes that filters be
+       organized in a linear chain. The decide(LoggingEvent) 
+       method of each filter is called sequentially, in the order of their 
+       addition to the chain.
+       
+       
The decide(LoggingEvent) method must return a
+       Decision value, either DENY, NEUTRAL or ACCCEPT.
+
+       
If the value DENY is returned, then the log event is
+       dropped immediately without consulting with the remaining
+       filters. 
+       
+       
If the value NEUTRAL is returned, then the next filter
+       in the chain is consulted. If there are no more filters in the
+       chain, then the log event is logged. Thus, in the presence of no
+       filters, the default behaviour is to log all logging events.
+       
+       
If the value ACCEPT is returned, then the log
+       event is logged without consulting the remaining filters. 
+       
+       
The philosophy of log4cpp filters is largely inspired from the
+       Linux ipchains. 
+    **/
+
+    class LOG4CPP_EXPORT Filter {
+        public:
+        
+        typedef enum { DENY = -1,
+                       NEUTRAL = 0,
+                       ACCEPT = 1
+        } Decision;
+
+        /**
+         * Default Constructor for Filter
+         **/
+        Filter();
+
+        /**
+         * Destructor for Filter
+         **/
+        virtual ~Filter();
+
+        /**
+         * Set the next Filter in the Filter chain
+         * @param filter The filter to chain
+         **/
+        virtual void setChainedFilter(Filter* filter);
+
+        /**
+         * Get the next Filter in the Filter chain
+         * @return The next Filter or NULL if the current filter is the last
+         * in the chain
+         **/
+        virtual Filter* getChainedFilter();
+
+        /**
+         * Get the last Filter in the Filter chain
+         * @return The last Filter in the Filter chain
+         **/
+        virtual Filter* getEndOfChain();
+
+        /**
+         * Add a Filter to the end of the Filter chain. Convience method for
+         * getEndOfChain()->setChainedFilter(filter).
+         * @param filter The filter to add to the end of the chain.
+         **/
+        virtual void appendChainedFilter(Filter* filter);
+
+        /**
+         * Decide whether to accept or deny a LoggingEvent. This method will
+         * walk the entire chain until a non neutral decision has been made
+         * or the end of the chain has been reached.
+         * @param event The LoggingEvent to decide on.
+         * @return The Decision
+         **/
+        virtual Decision decide(const LoggingEvent& event);
+
+        protected:
+        /**
+         * Decide whether this Filter accepts or denies the given 
+         * LoggingEvent. Actual implementation of Filter should override this
+         * method and not decide(LoggingEvent&).
+         * @param event The LoggingEvent to decide on.
+         * @return The Decision
+         **/
+        virtual Decision _decide(const LoggingEvent& event) = 0;
+
+        private:
+        Filter* _chainedFilter;
+
+    }; 
+
+}
+
+#endif // _LOG4CPP_FILTER_HH
diff --git a/VrUtils/log4cpp/include/log4cpp/FixedContextCategory.hh b/VrUtils/log4cpp/include/log4cpp/FixedContextCategory.hh
new file mode 100644
index 0000000..4954671
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/FixedContextCategory.hh
@@ -0,0 +1,174 @@
+/*
+ * FixedContextCategory.hh
+ *
+ * Copyright 2001, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2001, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_FIXEDCONTEXTCATEGORY_HH
+#define _LOG4CPP_FIXEDCONTEXTCATEGORY_HH
+
+#include 
+#include 
+
+namespace log4cpp {
+
+    /**
+     * This Category subclass replaces the NDC field in LoggingEvents with
+     * a fixed context string. All handling of Appenders, etc. is delgated
+     * to the 'normal' Category with the same name. Its intended use is 
+     * for object instances that serve a single client: they contruct a 
+     * FixedContextCategory with the client identifier as context. 
+     * Unlike with regular Category instances one has to explicitly create
+     * FixedContextCategory instances using the constructor. This also 
+     * implies one has to take cake of destruction of the instance as well.
+     * @since 0.2.4
+     **/
+    class LOG4CPP_EXPORT FixedContextCategory : public Category {
+
+        public:
+
+        /**
+         * Constructor 
+         * @param name the fully qualified name of this Categories delegate
+         * Category.
+         * @param context the context to fill the NDC field of LoggingEvents
+         * with.
+         **/
+        FixedContextCategory(const std::string& name, 
+                             const std::string& context = "");
+        
+        
+        /**
+         * Destructor for Category.
+         **/
+        virtual ~FixedContextCategory();
+        
+        /**
+         * Set the context string used as NDC.
+         * @param context the context string
+         **/
+        virtual void setContext(const std::string& context);
+
+        /**
+         * Return the context string used as NDC.
+         * @return the context string.
+         **/
+        virtual std::string getContext() const;
+
+        /**
+         * Returns the assigned Priority, if any, for this Category.
+         * @return Priority - the assigned Priority, can be Priority::NOTSET
+         **/
+        virtual Priority::Value getPriority() const throw();
+
+        /**
+         * Starting from this Category, search the category hierarchy for a
+         * set priority and return it. Otherwise, return the priority 
+         *  of the root category.
+         * 
+         * 
The Category class is designed so that this method executes as
+         * quickly as possible.
+         **/
+        virtual Priority::Value getChainedPriority() const throw();
+        
+        /**
+         * For the moment this method does nothing.
+         **/
+        virtual void addAppender(Appender* appender) throw();
+
+        /**
+         * For the moment this method does nothing.
+         **/
+        virtual void addAppender(Appender& appender);
+
+        /**
+         * Returns the Appender for this Category, or NULL if no Appender has
+         * been set.
+         * @returns The Appender.
+         **/
+        virtual Appender* getAppender() const;
+
+        /**
+         * Returns the specified Appender for this Category, or NULL if 
+         * the Appender is not attached to this Category.
+         * @since 0.2.7
+         * @returns The Appender.
+         **/
+        virtual Appender* getAppender(const std::string& name) const;
+
+        /**
+         * Returns the set of Appenders currently attached to this Catogory.
+         * @since 0.3.1
+         * @returns The set of attached Appenders.
+         **/
+        virtual AppenderSet getAllAppenders() const;
+
+         /**
+         * Removes all appenders set for this Category. Currently a Category
+         * can have only one appender, but this may change in the future.
+         **/
+        virtual void removeAllAppenders();
+
+        /**
+         * FixedContextAppenders cannot own Appenders.
+         * @returns false
+         **/
+        virtual bool ownsAppender() const throw();
+
+        /**
+         * FixedContextAppenders cannot own Appenders.
+         * @returns false
+         **/
+        virtual bool ownsAppender(Appender* appender)
+            const throw();
+
+        /**
+         * Call the appenders in the hierarchy starting at
+         *  this.  If no appenders could be found, emit a
+         * warning.
+         * 
+         * 
This method always calls all the appenders inherited form the
+         * hierracy circumventing any evaluation of whether to log or not to
+         * log the particular log request.
+         * 
+         * @param event The LoggingEvent to log.
+         **/
+        virtual void callAppenders(const LoggingEvent& event) throw();
+        
+        /**
+         * Set the additivity flag for this Category instance.
+         **/
+        virtual void setAdditivity(bool additivity);
+
+        /**
+         * Returns the additivity flag for this Category instance.
+         **/        
+        virtual bool getAdditivity() const throw();
+
+       protected:
+
+         /** 
+         * Unconditionally log a message with the specified priority.
+         * @param priority The priority of this log message.
+         * @param message string to write in the log file
+         **/  
+        virtual void _logUnconditionally2(Priority::Value priority, 
+                                          const std::string& message) throw();
+
+        private:
+
+        /**
+         * The delegate category of this FixedContextCategory. 
+         **/
+        Category& _delegate;
+
+        /** The context of this FixedContextCategory. */
+         std::string _context;
+
+    };
+
+}
+#endif // _LOG4CPP_FIXEDCONTEXTCATEGORY_HH
diff --git a/VrUtils/log4cpp/include/log4cpp/HierarchyMaintainer.hh b/VrUtils/log4cpp/include/log4cpp/HierarchyMaintainer.hh
new file mode 100644
index 0000000..c7dc57b
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/HierarchyMaintainer.hh
@@ -0,0 +1,59 @@
+/*
+ * HierarchyMaintainer.hh
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_HIERARCHYMAINTAINER_HH
+#define _LOG4CPP_HIERARCHYMAINTAINER_HH
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+
+    /**
+     * HierarchyMaintainer is an internal log4cpp class. It is responsible
+     * for maintaining the hierarchy of Categories. Applications should
+     * not have to use this class directly.
+     **/
+    class HierarchyMaintainer {
+        friend class Log4cppCleanup;
+
+        public:
+        typedef std::map CategoryMap;
+        typedef void (*shutdown_fun_ptr)();
+  
+        static HierarchyMaintainer& getDefaultMaintainer();
+
+        HierarchyMaintainer();
+        virtual ~HierarchyMaintainer();
+        virtual Category* getExistingInstance(const std::string& name);
+        virtual Category& getInstance(const std::string& name);
+        virtual std::vector* getCurrentCategories() const;
+        virtual void shutdown();
+        void register_shutdown_handler(shutdown_fun_ptr handler);
+        virtual void deleteAllCategories();
+
+        protected:
+        virtual Category* _getExistingInstance(const std::string& name);
+        virtual Category& _getInstance(const std::string& name);
+        CategoryMap _categoryMap;
+        mutable threading::Mutex _categoryMutex;
+
+        private:
+        typedef std::vector handlers_t;
+     
+        static HierarchyMaintainer* _defaultMaintainer;
+        handlers_t handlers_;
+    };        
+}
+
+#endif // _LOG4CPP_HIERARCHYMAINTAINER_HH
diff --git a/VrUtils/log4cpp/include/log4cpp/IdsaAppender.hh b/VrUtils/log4cpp/include/log4cpp/IdsaAppender.hh
new file mode 100644
index 0000000..47f1fb6
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/IdsaAppender.hh
@@ -0,0 +1,76 @@
+/*
+ * IdsaAppender.hh
+ *
+ * Copyright 2000, Marc Welz
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_IDSAAPPENDER_HH
+#define _LOG4CPP_IDSAAPPENDER_HH
+
+#include 
+#include 
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+
+    /**
+     * IdsaAppender is an Appender that sends LoggingEvents to the IDS/A 
+     * logger and reference monitor by Marc Welz. 
+     * See http://jade.cs.uct.ac.za/idsa/ for more information on IDS/A.
+     **/
+    class IdsaAppender : public AppenderSkeleton {
+        public:
+
+        /**
+         * Instantiate an IdsaAppender with given name and name.
+         * Unlike the syslog API, idsa allows multiple connections.
+         * @param name The name of the Appender
+         * @param idsaName The service parameter of idsa
+         **/         
+        IdsaAppender(const std::string& name, const std::string& idsaName);
+        virtual ~IdsaAppender();
+
+        /**
+         * Calls idsa_open() and idsa_close()
+         **/
+        virtual bool reopen();
+
+        /**
+         * Calls idsa_close()
+         **/
+        virtual void close();
+
+        /**
+         * The IdsaAppender does its own Layout.
+         * @returns false
+         **/
+        virtual bool requiresLayout() const;
+
+        virtual void setLayout(Layout* layout);
+
+        protected:
+        
+        /**
+         * Calls idsa_open().
+         **/
+        virtual void open();
+
+        /**
+         * Sends a LoggingEvent to idsa.
+         * @param event the LoggingEvent to log.
+         **/
+        virtual void _append(const LoggingEvent& event);
+
+        const std::string _idsaName;
+
+        IDSA_CONNECTION *_idsaConnection;
+
+    };
+}
+
+#endif // _LOG4CPP_IDSAAPPENDER_HH
+
diff --git a/VrUtils/log4cpp/include/log4cpp/Layout.hh b/VrUtils/log4cpp/include/log4cpp/Layout.hh
new file mode 100644
index 0000000..a95c91b
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/Layout.hh
@@ -0,0 +1,39 @@
+/*
+ * Layout.hh
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_LAYOUT_HH
+#define _LOG4CPP_LAYOUT_HH
+
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+
+/**
+ * Extend this abstract class to create your own log layout format.
+ **/
+    class LOG4CPP_EXPORT Layout {
+        public:
+        /**
+         * Destructor for Layout.
+         **/
+        virtual ~Layout() { };
+
+        /**
+         * Formats the LoggingEvent data to a string that appenders can log.
+         * Implement this method to create your own layout format.
+         * @param event The LoggingEvent.
+         * @returns an appendable string.
+         **/
+        virtual std::string format(const LoggingEvent& event) = 0;
+    };        
+}
+
+#endif // _LOG4CPP_LAYOUT_HH
diff --git a/VrUtils/log4cpp/include/log4cpp/LayoutAppender.hh b/VrUtils/log4cpp/include/log4cpp/LayoutAppender.hh
new file mode 100644
index 0000000..640094c
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/LayoutAppender.hh
@@ -0,0 +1,55 @@
+/*
+ * LayoutAppender.hh
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_LAYOUTAPPENDER_HH
+#define _LOG4CPP_LAYOUTAPPENDER_HH
+
+#include 
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+
+    /**
+     * LayoutAppender is a common superclass for all Appenders that require
+     * a Layout. 
+     **/
+    class LOG4CPP_EXPORT LayoutAppender : public AppenderSkeleton {
+        public:
+
+        typedef BasicLayout DefaultLayoutType;
+
+        LayoutAppender(const std::string& name);
+        virtual ~LayoutAppender();
+        
+        /**
+         * Check if the appender requires a layout. All LayoutAppenders do,
+         * therefore this method returns true for all subclasses.
+         * 
+         * @returns true.
+         **/
+        virtual bool requiresLayout() const;
+        virtual void setLayout(Layout* layout = NULL);
+
+        protected:
+        /**
+         * Return the layout of the appender.
+         * This method is the Layout accessor for subclasses of LayoutAppender.
+         * @returns the Layout.
+         **/
+        Layout& _getLayout();
+
+        private:
+        Layout* _layout;
+    };
+}
+
+#endif // _LOG4CPP_LAYOUTAPPENDER_HH
+
diff --git a/VrUtils/log4cpp/include/log4cpp/LayoutsFactory.hh b/VrUtils/log4cpp/include/log4cpp/LayoutsFactory.hh
new file mode 100644
index 0000000..f25680c
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/LayoutsFactory.hh
@@ -0,0 +1,42 @@
+/*
+ * Copyright 2002, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2002, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#if !defined(h_409ac787_0acf_47ff_ac15_3e9024d40315)
+#define h_409ac787_0acf_47ff_ac15_3e9024d40315
+
+#include 
+#include 
+#include 
+#include "Portability.hh"
+#include "Layout.hh"
+#include "FactoryParams.hh"
+
+namespace log4cpp
+{
+   class LOG4CPP_EXPORT LayoutsFactory
+   {
+      public:
+         typedef FactoryParams params_t;
+         typedef std::auto_ptr (*create_function_t)(const params_t& params);
+
+         static LayoutsFactory& getInstance();
+         void registerCreator(const std::string& class_name, create_function_t create_function);
+         std::auto_ptr create(const std::string& class_name, const params_t& params);
+         bool registed(const std::string& class_name) const;
+
+      private:
+         LayoutsFactory(){};
+
+         typedef std::map creators_t;
+         typedef creators_t::const_iterator const_iterator;
+
+         creators_t creators_;
+   };
+}
+
+
+#endif // h_409ac787_0acf_47ff_ac15_3e9024d40315
diff --git a/VrUtils/log4cpp/include/log4cpp/LevelEvaluator.hh b/VrUtils/log4cpp/include/log4cpp/LevelEvaluator.hh
new file mode 100644
index 0000000..b5ab624
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/LevelEvaluator.hh
@@ -0,0 +1,26 @@
+/*
+ * Copyright 2002, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2002, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#if !defined(h_3491ecd0_3891_4902_b3ba_15b15d98ae49)
+#define h_3491ecd0_3891_4902_b3ba_15b15d98ae49
+
+#include 
+
+namespace log4cpp
+{
+   class LOG4CPP_EXPORT LevelEvaluator : public TriggeringEventEvaluator
+   {
+      public:
+         LevelEvaluator(Priority::Value level) : level_(level) {}
+         virtual bool eval(const LoggingEvent& event) const { return event.priority <= level_; }
+   
+      private:
+         Priority::Value level_;
+   };
+}
+
+#endif // h_3491ecd0_3891_4902_b3ba_15b15d98ae49
diff --git a/VrUtils/log4cpp/include/log4cpp/LoggingEvent.hh b/VrUtils/log4cpp/include/log4cpp/LoggingEvent.hh
new file mode 100644
index 0000000..47cbd07
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/LoggingEvent.hh
@@ -0,0 +1,73 @@
+/*
+ * LoggingEvent.hh
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_LOGGINGEVENT_HH
+#define _LOG4CPP_LOGGINGEVENT_HH
+
+#include 
+#include 
+
+#include 
+#include 
+
+/**
+ * The top level namespace for all 'Log for C++' types and classes.
+ **/
+namespace log4cpp {
+
+    /**
+     * The internal representation of logging events. When a affirmative
+     * logging decision is made a LoggingEvent instance is
+     * created. This instance is passed around the different log4cpp
+     * components.
+     *
+     * 
This class is of concern to those wishing to extend log4cpp. 
+     **/
+    struct LOG4CPP_EXPORT LoggingEvent {
+    public:
+        /**
+         * Instantiate a LoggingEvent from the supplied parameters.
+         *
+         * 
Except timeStamp all the other fields of
+         * LoggingEvent are filled when actually needed.
+         * 

+         * @param category The category of this event.
+         * @param message  The message of this event.
+         * @param ndc The nested diagnostic context of this event. 
+         * @param priority The priority of this event.
+         **/
+        LoggingEvent(const std::string& category, const std::string& message, 
+                     const std::string& ndc, Priority::Value priority);
+
+
+        /** The category name. */
+        const std::string categoryName;
+
+        /** The application supplied message of logging event. */
+        const std::string message;
+
+        /** The nested diagnostic context (NDC) of logging event. */
+        const std::string ndc;
+
+        /** Priority of logging event. */
+        Priority::Value priority;
+
+        /** The name of thread in which this logging event was generated,
+            e.g. the PID. 
+        */
+        const std::string threadName;
+
+        /** The number of seconds elapsed since the epoch 
+            (1/1/1970 00:00:00 UTC) until logging event was created. */
+        TimeStamp timeStamp;
+    };
+}
+
+#endif // _LOG4CPP_LOGGINGEVENT_HH
+
diff --git a/VrUtils/log4cpp/include/log4cpp/Manipulator.hh b/VrUtils/log4cpp/include/log4cpp/Manipulator.hh
new file mode 100644
index 0000000..5c024ad
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/Manipulator.hh
@@ -0,0 +1,30 @@
+/*
+ * Manipulator.hh
+ *
+ * Copyright 2005, Francis ANDRE. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_MANIPULATOR_HH
+#define _LOG4CPP_MANIPULATOR_HH
+
+#include 
+#include 
+namespace log4cpp {
+	class LOG4CPP_EXPORT width {
+	private:
+		unsigned int size;
+	public:
+inline	width(unsigned int i) : size(i) {}
+friend LOG4CPP_EXPORT std::ostream& operator<< (std::ostream& os, const width& w);
+	};
+class LOG4CPP_EXPORT tab {
+	private:
+		unsigned int size;
+	public:
+inline	tab(unsigned int i) : size(i) {}
+friend LOG4CPP_EXPORT std::ostream& operator<< (std::ostream& os, const tab& w);
+	};
+}
+#endif
diff --git a/VrUtils/log4cpp/include/log4cpp/NDC.hh b/VrUtils/log4cpp/include/log4cpp/NDC.hh
new file mode 100644
index 0000000..fe58505
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/NDC.hh
@@ -0,0 +1,181 @@
+/*
+ * NDC.hh
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_NDC_HH
+#define _LOG4CPP_NDC_HH
+
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+    /**
+       The NDC class implements nested diagnostic contexts as
+       defined by Neil Harrison in the article "Patterns for Logging
+       Diagnostic Messages" part of the book "Pattern Languages of
+       Program Design 3" edited by Martin et al.
+       
+       
A Nested Diagnostic Context, or NDC in short, is an instrument
+       to distinguish interleaved log output from different sources. Log
+       output is typically interleaved when a server handles multiple
+       clients near-simulatanously.
+       
+       
Interleaved log output can still be meaningful if each log entry
+       from different contexts had a distinctive stamp. This is where NDCs
+       come into play.
+       
+       
Note that NDCs are managed on a per thread
+       basis. NDC operations such as push, 
+       pop, clear, getDepth and 
+       setMaxDepth affect the NDC of the current thread only.
+       NDCs of other threads remain unaffected.
+       
+       
To build an NDC one uses the push operation. 
+       Simply put,
+
+       
    
+       
  • Contexts can be nested.
+       
+       
  • When entering a context, call NDC.push. As a
+       side effect, if there is no nested diagnostic context for the
+       current thread, this method will create it.
+       
+       
  • When leaving a context, call NDC.pop.
+       

+
+       
There is no penalty for forgetting to match each
+       push operation with a corresponding pop,
+       except the obvious mismatch between the real application context
+       and the context set in the NDC.
+
+       
Custom Layouts may include the nested diagnostic context for the 
+       current thread in log messages, without any user intervention.
+       Hence, even if a server is serving multiple clients
+       simultaneously, the logs emanating from the same code (belonging to
+       the same category) can still be distinguished because each client
+       request will have a different NDC tag.
+
+       
Unfortunately, unlike Java, C++ does not have platform 
+       independent multithreading support. Therefore, currently log4cpp is 
+       not multithread aware, it implicitly assumes only one thread exists, 
+       the main process thread.         
+    **/
+    class LOG4CPP_EXPORT NDC {
+    	/**
+    	   Whether NDC feature is ever used by the user. If it is not used then saves some time by skipping instructions
+    	   from: ver.1.1
+    	**/
+    	static bool isUsedNDC;
+    	static const std::string emptyString;
+        public:
+
+        struct DiagnosticContext {
+            DiagnosticContext(const std::string& message);
+            DiagnosticContext(const std::string& message, 
+                              const DiagnosticContext& parent);
+
+            std::string message;
+            std::string fullMessage;
+        };
+
+        typedef std::vector ContextStack;
+
+        /**
+           Clear any nested disgnostic information if any. This method is
+           useful in cases where the same thread can be potentially used
+           over and over in different unrelated contexts.
+           
+           
This method is equivalent to calling the setMaxDepth
+           method with a zero maxDepth argument.
+        **/
+        static void clear();
+
+        /**
+           Clone the diagnostic context for the current thread.
+           
+           
Internally a diagnostic context is represented as a stack.  A
+           given thread can supply the stack (i.e. diagnostic context) to a
+           child thread so that the child can inherit the parent thread's
+           diagnostic context.
+           
+           
The child thread uses the inherit method to
+           inherit the parent's diagnostic context.
+           
+           @return Stack A clone of the current thread's  diagnostic context.
+        **/
+        static ContextStack* cloneStack();
+
+        /**
+           Get the current diagnostic context string.
+           @return the context string.
+        **/
+        static const std::string& get();
+
+        /**
+           Get the current nesting depth of this diagnostic context.
+           @return the nesting depth
+        **/
+        static size_t getDepth();
+
+        static void inherit(ContextStack* stack);
+
+        /**
+           Clients should call this method before leaving a diagnostic
+           context.
+           
+           
The returned value is the value that was pushed last. If no
+           context is available, then the empty string "" is returned.
+           
+           @return String The innermost diagnostic context.
+        **/
+ 
+        static std::string pop();
+
+        /**
+           Push new diagnostic context information for the current thread.
+           
+           
The contents of the message parameter is
+           determined solely by the client.  
+           
+           @param message The new diagnostic context information.
+        **/
+        static void push(const std::string& message);
+
+        /**
+           Set the maximum nesting depth for the current NDC. Curently NDCs 
+           do not enforce a maximum depth and consequentially this method
+           has no effect.
+           @param maxDepth the maximum nesting depth
+        **/
+        static void setMaxDepth(int maxDepth);
+
+        /**
+           Return the NDC for the current thread.
+           @return the NDC for the current thread
+        **/
+        static NDC& getNDC();
+
+        NDC();
+        virtual ~NDC();
+
+        public:
+        virtual void _clear();
+        virtual ContextStack* _cloneStack();
+        virtual const std::string& _get() const;
+        virtual size_t _getDepth() const;
+        virtual void _inherit(ContextStack* stack);
+        virtual std::string _pop();
+        virtual void _push(const std::string& message);
+        virtual void _setMaxDepth(int maxDepth);
+
+        ContextStack _stack;
+    };        
+}
+
+#endif // _LOG4CPP_NDC_HH
diff --git a/VrUtils/log4cpp/include/log4cpp/NTEventLogAppender.hh b/VrUtils/log4cpp/include/log4cpp/NTEventLogAppender.hh
new file mode 100644
index 0000000..c2d6d39
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/NTEventLogAppender.hh
@@ -0,0 +1,105 @@
+/*
+ * NTEventLogAppender.hh
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_NTEVENTLOGAPPENDER_HH
+#define _LOG4CPP_NTEVENTLOGAPPENDER_HH
+
+#ifdef WIN32	// only available on Win32
+
+// deal with ERROR #define
+// N.B. This #includes windows.h with NOGDI and WIN32_LEAN_AND_MEAN #defined.
+//      If this is not what the user wants, #include windows.h before this file.
+#ifndef _WINDOWS_
+#  ifndef NOGDI
+#    define NOGDI  // this will circumvent the ERROR #define in windows.h
+#    define LOG4CPP_UNDEFINE_NOGDI
+#  endif
+
+#  ifndef WIN32_LEAN_AND_MEAN
+#    define WIN32_LEAN_AND_MEAN
+#    define LOG4CPP_UNDEFINE_WIN32_LEAN_AND_MEAN
+#  endif
+
+#  include 
+
+#  ifdef LOG4CPP_UNDEFINE_NOGDI
+#    undef NOGDI
+#  endif
+
+#  ifdef LOG4CPP_UNDEFINE_WIN32_LEAN_AND_MEAN
+#    undef WIN32_LEAN_AND_MEAN
+#  endif
+
+#endif // done dealing with ERROR #define
+
+#include 
+#include 
+
+namespace log4cpp {
+
+    /**
+     * NTEventLogAppender is an Appender that sends LoggingEvents to the 
+     * Windows event log.
+     * Building log4cpp.dsp/log4cppDLL.dsp creates the resource DLL NTEventLogAppender.dll.
+     * Do not forget to place this DLL in a directory that is on the PATH 
+     * of the Windows system. Otherwise, the category and message will not display 
+     * correctly in Event Viewer.

+     * NB: This class is only available on Win32 platforms.
+     **/
+    class LOG4CPP_EXPORT NTEventLogAppender : public AppenderSkeleton {
+    public:
+
+        /**
+         * Instantiate an NTEventLogAppender with given name and source.
+         * @param name The name of the Appender
+         * @param sourceName The source name to log
+         **/         
+        NTEventLogAppender(const std::string& name, const std::string& sourceName);
+        virtual ~NTEventLogAppender();
+
+        /**
+         * Calls open() and close()
+         **/
+        virtual bool reopen();
+
+        virtual void close();
+
+        /**
+         * The NTEventLogAppender does its own Layout.
+         * @returns false
+         **/
+        virtual bool requiresLayout() const;
+
+        virtual void setLayout(Layout* layout);
+
+    protected:
+        
+        WORD getCategory(Priority::Value priority);
+        WORD getType(Priority::Value priority);
+        HKEY regGetKey(TCHAR *subkey, DWORD *disposition);
+        void regSetString(HKEY hkey, TCHAR *name, TCHAR *value);
+        void regSetDword(HKEY hkey, TCHAR *name, DWORD value);
+        void addRegistryInfo(const char *source);
+
+        virtual void open();
+
+        /**
+         * Sends a LoggingEvent to NT Event log.
+         * @param event the LoggingEvent to log.
+         **/
+        virtual void _append(const LoggingEvent& event);
+
+    	HANDLE _hEventSource;
+        std::string _strSourceName;
+    };
+}
+
+#else // WIN32
+#error NTEventLoggAppender is not available on on Win32 platforms
+#endif	// WIN32
+
+#endif // _LOG4CPP_NTEVENTLOGAPPENDER_HH
+
diff --git a/VrUtils/log4cpp/include/log4cpp/OstreamAppender.hh b/VrUtils/log4cpp/include/log4cpp/OstreamAppender.hh
new file mode 100644
index 0000000..027013a
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/OstreamAppender.hh
@@ -0,0 +1,38 @@
+/*
+ * OstreamAppender.hh
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_OSTREAMAPPENDER_HH
+#define _LOG4CPP_OSTREAMAPPENDER_HH
+
+#include 
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+
+    /**
+     * OstreamAppender appends LoggingEvents to ostreams.
+     **/
+    class LOG4CPP_EXPORT OstreamAppender : public LayoutAppender {
+        public:
+        OstreamAppender(const std::string& name, std::ostream* stream);
+        virtual ~OstreamAppender();
+        
+        virtual bool reopen();
+        virtual void close();
+
+        protected:
+        virtual void _append(const LoggingEvent& event);
+
+        std::ostream* _stream;
+    };
+}
+
+#endif // _LOG4CPP_OSTREAMAPPENDER_HH
diff --git a/VrUtils/log4cpp/include/log4cpp/PassThroughLayout.hh b/VrUtils/log4cpp/include/log4cpp/PassThroughLayout.hh
new file mode 100644
index 0000000..12cb48a
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/PassThroughLayout.hh
@@ -0,0 +1,22 @@
+/*
+ * Copyright 2002, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2002, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#if !defined(h_8e4861a3_f607_479c_ac2d_0b2d81b4c36c)
+#define h_8e4861a3_f607_479c_ac2d_0b2d81b4c36c
+
+#include 
+
+namespace log4cpp
+{
+   class PassThroughLayout : public Layout
+   {
+      public:
+         virtual std::string format(const LoggingEvent& event) { return event.message; }
+   };
+}
+
+#endif // h_8e4861a3_f607_479c_ac2d_0b2d81b4c36c
diff --git a/VrUtils/log4cpp/include/log4cpp/PatternLayout.hh b/VrUtils/log4cpp/include/log4cpp/PatternLayout.hh
new file mode 100644
index 0000000..12eea64
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/PatternLayout.hh
@@ -0,0 +1,104 @@
+/*
+ * PatternLayout.hh
+ *
+ * Copyright 2002, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_PATTERNLAYOUT_HH
+#define _LOG4CPP_PATTERNLAYOUT_HH
+
+#include 
+#include 
+#include 
+#include 
+#ifdef LOG4CPP_HAVE_SSTREAM
+#include 
+#endif
+
+namespace log4cpp {
+
+    /**
+     * PatternLayout is a simple fixed format Layout implementation. 
+     **/
+    class LOG4CPP_EXPORT PatternLayout : public Layout {
+        public:
+        /**
+           The default conversion pattern
+        **/
+        static const char* DEFAULT_CONVERSION_PATTERN;
+
+        /**
+           A conversion pattern equivalent to the SimpleLayout.
+        **/
+        static const char* SIMPLE_CONVERSION_PATTERN;
+
+        /**
+           A conversion pattern equivalent to the BasicLayout.
+        **/
+        static const char* BASIC_CONVERSION_PATTERN;
+
+        /**
+           A conversion pattern equivalent to the TTCCLayout.
+           Note: TTCCLayout is in log4j but not log4cpp.
+        **/           
+        static const char* TTCC_CONVERSION_PATTERN;
+
+        PatternLayout();
+        virtual ~PatternLayout();
+        
+        // NOTE: All double percentage signs ('%%') followed by a character
+        //       in the following comments should actually be a single char.
+        //       The doubles are included so that doxygen will print them correctly.
+        /**
+         * Formats the LoggingEvent in the style set by
+		 * the setConversionPattern call. By default, set
+		 * to "%%m%%n"
+         **/
+        virtual std::string format(const LoggingEvent& event);
+
+        /**
+         * Sets the format of log lines handled by this
+         * PatternLayout. By default, set to "%%m%%n".

+         * Format characters are as follows:

+         * 
  • %% - a single percent sign
    • 
+         * 
  • %%c - the category
    • 
+         * 
  • %%d - the date\n
+         *  Date format: The date format character may be followed by a date format 
+         *  specifier enclosed between braces. For example, %%d{%%H:%%M:%%S,%%l} or %%d{%%d %%m %%Y %%H:%%M:%%S,%%l}.
+         *  If no date format specifier is given then the following format is used:
+         *  "Wed Jan 02 02:03:55 1980". The date format specifier admits the same syntax 
+         *  as the ANSI C function strftime, with 1 addition. The addition is the specifier
+         *  %%l for milliseconds, padded with zeros to make 3 digits.
    • 
+         * 
  • %%m - the message
    • 
+         * 
  • %%n - the platform specific line separator
    • 
+         * 
  • %%p - the priority
    • 
+         * 
  • %%r - milliseconds since this layout was created.
    • 
+         * 
  • %%R - seconds since Jan 1, 1970
    • 
+         * 
  • %%u - clock ticks since process start
    • 
+         * 
  • %%x - the NDC
    • 
+         * @param conversionPattern the conversion pattern
+         * @exception ConfigureFailure if the pattern is invalid
+         **/
+        virtual void setConversionPattern(const std::string& conversionPattern);
+
+        virtual std::string getConversionPattern() const;
+
+        virtual void clearConversionPattern();
+
+        class LOG4CPP_EXPORT PatternComponent {
+            public:
+            inline virtual ~PatternComponent() {};
+            virtual void append(std::ostringstream& out, const LoggingEvent& event) = 0;
+        };
+
+        private:
+        typedef std::vector ComponentVector; 
+        ComponentVector _components;
+
+        std::string _conversionPattern;
+    };        
+}
+
+#endif // _LOG4CPP_PATTERNLAYOUT_HH
diff --git a/VrUtils/log4cpp/include/log4cpp/Portability.hh b/VrUtils/log4cpp/include/log4cpp/Portability.hh
new file mode 100644
index 0000000..ef32f0e
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/Portability.hh
@@ -0,0 +1,69 @@
+/*
+ * Portability.hh
+ *
+ * Copyright 2001, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2001, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_PORTABILITY_HH
+#define _LOG4CPP_PORTABILITY_HH
+
+#if defined (_MSC_VER) || defined(__BORLANDC__)
+#    if defined (LOG4CPP_STLPORT_AND_BOOST_BUILD)
+#        include 
+#    else
+#        include 
+#    endif
+
+#ifdef MSVC_MEMORY_LEAK_CHECK
+#define _CRTDBG_MAP_ALLOC
+
+#include 
+#include 
+
+#ifdef _DEBUG
+   #ifndef DBG_NEW
+      #define DBG_NEW new ( _NORMAL_BLOCK , __FILE__ , __LINE__ )
+      #define new DBG_NEW
+   #endif
+#endif  // _DEBUG
+#endif // MSVC_MEMORY_LEAK_CHECK
+
+#else
+#if defined(__OPENVMS__)
+#    include 
+#else
+#   if defined(__MINGW32__)
+#       include 
+//#   else
+//#       include 
+#   endif
+#endif
+#endif
+
+#include 
+
+#if defined(_MSC_VER)
+#    pragma warning( disable : 4786 ) // 255 char debug symbol limit
+#    pragma warning( disable : 4290 ) // throw specifier not implemented
+#    pragma warning( disable : 4251 ) // "class XXX should be exported"
+#endif
+
+#ifdef __APPLE__
+#  include 
+#else
+#  ifndef LOG4CPP_HAVE_SSTREAM
+#    include 
+     namespace std {
+       class LOG4CPP_EXPORT ostringstream : public ostrstream {
+       public:
+	 std::string str();
+       };
+     };
+#  endif // LOG4CPP_HAVE_SSTREAM
+#endif // _APPLE_
+
+
+#endif
diff --git a/VrUtils/log4cpp/include/log4cpp/Priority.hh b/VrUtils/log4cpp/include/log4cpp/Priority.hh
new file mode 100644
index 0000000..728d5ce
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/Priority.hh
@@ -0,0 +1,110 @@
+/*
+ * Priority.hh
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_PRIORITY_HH
+#define _LOG4CPP_PRIORITY_HH
+
+#include 
+#include 
+#include 
+
+/*
+ * Optionally work around rudeness in windows.h on Win32.
+ */
+#ifdef ERROR
+#ifdef LOG4CPP_FIX_ERROR_COLLISION
+
+namespace log4cpp {
+    static const int _tmpERRORValue = ERROR;
+}
+
+#undef ERROR
+    static const int ERROR = log4cpp::_tmpERRORValue;
+#define ERROR ERROR
+
+#else  // LOG4CPP_FIX_ERROR_COLLISION
+#error Naming collision for 'ERROR' detected. Please read the FAQ for a \
+       workaround. 
+#endif // LOG4CPP_FIX_ERROR_COLLISION 
+
+#endif // ERROR
+
+/*
+ * Other Win32 rudeness in EDK.h
+ */
+#ifdef DEBUG
+
+#ifdef LOG4CPP_FIX_ERROR_COLLISION
+
+#undef DEBUG
+#define DEBUG DEBUG
+
+#else  // LOG4CPP_FIX_ERROR_COLLISION
+#error Naming collision for 'DEBUG' detected. Please read the FAQ for a \
+       workaround. 
+#endif // LOG4CPP_FIX_ERROR_COLLISION 
+
+#endif // DEBUG
+
+namespace log4cpp {
+
+    /**
+     * The Priority class provides importance levels with which one
+     * can categorize log messages.
+     **/
+    class LOG4CPP_EXPORT Priority {
+        public:
+
+		static const int MESSAGE_SIZE; // = 8;
+
+        /**
+         * Predefined Levels of Priorities. These correspond to the
+         * priority levels used by syslog(3).
+         **/
+        typedef enum {EMERG  = 0, 
+		      FATAL  = 0,
+                      ALERT  = 100,
+                      CRIT   = 200,
+                      ERROR  = 300, 
+                      WARN   = 400,
+                      NOTICE = 500,
+                      INFO   = 600,
+                      DEBUG  = 700,
+                      NOTSET = 800
+        } PriorityLevel;
+
+        /**
+         * The type of Priority Values
+         **/
+        typedef int Value;
+
+        /**
+         * Returns the name of the given priority value.
+         * Currently, if the value is not one of the PriorityLevel values,
+         * the method returns the name of the largest priority smaller 
+         * the given value.
+         * @param priority the numeric value of the priority.
+         * @returns a string representing the name of the priority.
+         **/
+        static const std::string& getPriorityName(int priority) throw();
+	
+	/**
+	 * Returns the value of the given priority name. 
+	 * This can be either one of EMERG ... NOTSET or a 
+	 * decimal string representation of the value, e.g. '700' for DEBUG.
+	 * @param priorityName the string containing the the of the priority
+	 * @return the value corresponding with the priority name
+	 * @throw std::invalid_argument if the priorityName does not 
+	 * correspond with a known Priority name or a number
+	 **/
+        static Value getPriorityValue(const std::string& priorityName);
+    };
+}
+
+#endif // _LOG4CPP_PRIORITY_HH
diff --git a/VrUtils/log4cpp/include/log4cpp/PropertyConfigurator.hh b/VrUtils/log4cpp/include/log4cpp/PropertyConfigurator.hh
new file mode 100644
index 0000000..d0229bc
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/PropertyConfigurator.hh
@@ -0,0 +1,58 @@
+/*
+ * SimpleConfigurator.hh
+ *
+ * Copyright 2001, Glen Scott. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+#ifndef _LOG4CPP_PROPERTYCONFIGURATOR_HH
+#define _LOG4CPP_PROPERTYCONFIGURATOR_HH
+
+#include 
+#include 
+
+#include 
+#include 	// configure exceptions
+
+namespace log4cpp {
+
+    /**
+       Property configurator will read a config file using the same (or similar)
+       format to the config file used by log4j. This file is in a standard Java
+       "properties" file format.
+       
    Example:
    
+       
    +       # a simple test config
+
+       log4j.rootCategory=DEBUG, rootAppender
+       log4j.category.sub1=A1
+       log4j.category.sub2=INFO
+       log4j.category.sub1.sub2=ERROR, A2
+       
+       log4j.appender.rootAppender=org.apache.log4j.ConsoleAppender
+       log4j.appender.rootAppender.layout=org.apache.log4j.BasicLayout
+       
+       log4j.appender.A1=org.apache.log4j.FileAppender
+       log4j.appender.A1.fileName=A1.log
+       log4j.appender.A1.layout=org.apache.log4j.BasicLayout
+       
+       log4j.appender.A2=org.apache.log4j.ConsoleAppender
+       log4j.appender.A2.layout=org.apache.log4j.PatternLayout
+       log4j.appender.A2.layout.ConversionPattern=The message %%m at time %%d%%n
+       
    
+       
+       @since 0.3.2
+    **/
+    class LOG4CPP_EXPORT PropertyConfigurator {
+        public:
+        /**
+         *
+         * @param initFileName
+         * @exception ConfigureFailure if the method encountered a read or
+         * syntax error.
+         */
+        static void configure(const std::string& initFileName);
+    };
+}
+
+#endif // _LOG4CPP_PROPERTYCONFIGURATOR_HH
diff --git a/VrUtils/log4cpp/include/log4cpp/RemoteSyslogAppender.hh b/VrUtils/log4cpp/include/log4cpp/RemoteSyslogAppender.hh
new file mode 100644
index 0000000..17fdf0b
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/RemoteSyslogAppender.hh
@@ -0,0 +1,139 @@
+/*
+ * SyslogAppender.hh
+ *
+ * Copyright 2001, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2001, Walter Stroebel. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_REMOTESYSLOGAPPENDER_HH
+#define _LOG4CPP_REMOTESYSLOGAPPENDER_HH
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#ifdef WIN32
+#include 
+#else
+#include 
+#endif
+
+#ifdef LOG4CPP_HAVE_SYSLOG
+#include 
+#else
+/// from syslog.h
+typedef enum {
+    LOG_EMERG   = 0,       ///< system is unusable
+    LOG_ALERT   = 1,       ///< action must be taken immediately
+    LOG_CRIT    = 2,       ///< critical conditions 
+    LOG_ERR     = 3,       ///< error conditions
+    LOG_WARNING = 4,       ///< warning conditions
+    LOG_NOTICE  = 5,       ///< normal but significant condition
+    LOG_INFO    = 6,       ///< informational
+    LOG_DEBUG   = 7,       ///< debug-level messages
+} SyslogLevel;
+
+typedef enum {
+    LOG_KERN     = (0<<3),  ///< kernel messages
+    LOG_USER     = (1<<3),  ///< random user-level messages
+    LOG_MAIL     = (2<<3),  ///< mail system
+    LOG_DAEMON   = (3<<3),  ///< system daemons
+    LOG_AUTH     = (4<<3),  ///< security/authorization messages
+    LOG_SYSLOG   = (5<<3),  ///< messages generated internally by syslogd
+    LOG_LPR      = (6<<3),  ///< line printer subsystem
+    LOG_NEWS     = (7<<3),  ///< network news subsystem
+    LOG_UUCP     = (8<<3),  ///< UUCP subsystem
+    LOG_CRON     = (9<<3),  ///< clock daemon
+    LOG_AUTHPRIV = (10<<3), ///< security/authorization messages (private)
+    LOG_FTP      = (11<<3), ///< ftp daemon
+    
+    /* other codes through 15 reserved for system use */ 
+    LOG_LOCAL0   = (16<<3), ///< reserved for local use
+    LOG_LOCAL1   = (17<<3), ///< reserved for local use
+    LOG_LOCAL2   = (18<<3), ///< reserved for local use
+    LOG_LOCAL3   = (19<<3), ///< reserved for local use
+    LOG_LOCAL4   = (20<<3), ///< reserved for local use
+    LOG_LOCAL5   = (21<<3), ///< reserved for local use
+    LOG_LOCAL6   = (22<<3), ///< reserved for local use
+    LOG_LOCAL7   = (23<<3), ///< reserved for local use
+} SyslogFacility;
+#endif
+
+namespace log4cpp {
+
+    /**
+     * RemoteSyslogAppender sends LoggingEvents to a remote syslog system.
+     *
+     * Also see: draft-ietf-syslog-syslog-12.txt
+     **/
+    class LOG4CPP_EXPORT RemoteSyslogAppender : public LayoutAppender {
+        public:
+
+        /**
+         * Translates a log4cpp priority to a syslog priority
+         * @param priority The log4cpp priority.
+         * @returns the syslog priority.
+         **/
+        static int toSyslogPriority(Priority::Value priority);
+
+        /**
+         * Instantiate a RemoteSyslogAppender with given name and name and
+         * facility for syslog.
+         * @param name The name of the Appender
+         * @param syslogName The ident parameter in the openlog(3) call.
+         * @param relayer The IP address or hostname of a standard syslog host.
+         * @param facility The syslog facility to log to. Defaults to LOG_USER. 
+         * Value '-1' implies to use the default.         
+         * @param portNumber An alternative port number. Defaults to the 
+         * standard syslog port number (514).
+         * Value '-1' implies to use the default.         
+         **/         
+        RemoteSyslogAppender(const std::string& name, 
+                             const std::string& syslogName, 
+                             const std::string& relayer, 
+                             int facility = LOG_USER,
+                             int portNumber = 514);
+        virtual ~RemoteSyslogAppender();
+
+        /**
+         * Closes and reopens the socket.
+         **/
+        virtual bool reopen();
+
+        /**
+         * Closes the socket
+         **/
+        virtual void close();
+
+        protected:
+        
+        /**
+         * Just creates the socket.
+         **/
+        virtual void open();
+
+        /**
+         * Sends a LoggingEvent to the remote syslog.
+         * @param event the LoggingEvent to log.
+         **/
+        virtual void _append(const LoggingEvent& event);
+
+        const std::string _syslogName;
+        const std::string _relayer;
+        int _facility;
+        int _portNumber;
+#ifdef	WIN32
+		SOCKET	_socket;
+#else	
+		int		_socket;
+#endif
+        in_addr_t _ipAddr;
+        private:
+        int _cludge;
+    };
+}
+
+#endif // _LOG4CPP_REMOTESYSLOGAPPENDER_HH
diff --git a/VrUtils/log4cpp/include/log4cpp/RollingFileAppender.hh b/VrUtils/log4cpp/include/log4cpp/RollingFileAppender.hh
new file mode 100644
index 0000000..9a18fce
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/RollingFileAppender.hh
@@ -0,0 +1,48 @@
+/*
+ * RollingFileAppender.hh
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_ROLLINGFILEAPPENDER_HH
+#define _LOG4CPP_ROLLINGFILEAPPENDER_HH
+
+#include 
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+
+    /**
+       RollingFileAppender is a FileAppender that rolls over the logfile once
+       it has reached a certain size limit.
+       @since 0.3.1
+    **/
+    class LOG4CPP_EXPORT RollingFileAppender : public FileAppender {
+        public:
+        RollingFileAppender(const std::string& name, 
+                            const std::string& fileName,
+                            size_t maxFileSize = 10*1024*1024, 
+                            unsigned int maxBackupIndex = 1,
+                            bool append = true,
+                            mode_t mode = 00644);
+
+        virtual void setMaxBackupIndex(unsigned int maxBackups);
+        virtual unsigned int getMaxBackupIndex() const;
+        virtual void setMaximumFileSize(size_t maxFileSize);
+        virtual size_t getMaxFileSize() const;
+
+        virtual void rollOver();
+
+        protected:
+        virtual void _append(const LoggingEvent& event);
+
+        unsigned int _maxBackupIndex;
+        unsigned short int _maxBackupIndexWidth;	// keep constant index width by zeroing leading positions
+
+        size_t _maxFileSize;
+    };
+}
+
+#endif // _LOG4CPP_ROLLINGFILEAPPENDER_HH
diff --git a/VrUtils/log4cpp/include/log4cpp/SimpleConfigurator.hh b/VrUtils/log4cpp/include/log4cpp/SimpleConfigurator.hh
new file mode 100644
index 0000000..e8ae268
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/SimpleConfigurator.hh
@@ -0,0 +1,52 @@
+/*
+ * SimpleConfigurator.hh
+ *
+ * Copyright 2001, Glen Scott. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+#ifndef _LOG4CPP_SIMPLECONFIGURATOR_HH
+#define _LOG4CPP_SIMPLECONFIGURATOR_HH
+
+#include 
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+
+    /**
+     * This class implements a simple Configurator for log4cpp.
+     * It is a temporary hack with an undocumented configuration format.
+     * @deprecated As of version 0.3.2 log4cpp includes a log4j format 
+     * compatible PropertyConfigurator, removing the need for 
+     * SimpleConfigurator. This class will be removed in 0.4.0.
+     **/
+    class LOG4CPP_EXPORT SimpleConfigurator {
+    public:
+
+        /**
+         * Configure log4cpp with the configuration in the given file.
+         * NB. The configuration file format is undocumented and may change
+         * without notice.
+         * @since 0.2.6
+         * @param initFileName name of the configuration file
+         * @exception ConfigureFailure if the method encountered a read or 
+         * syntax error.
+         **/
+        static void configure(const std::string& initFileName);
+
+        /**
+         * Configure log4cpp with the configuration in the given file.
+         * NB. The configuration file format is undocumented and may change
+         * without notice.
+         * @since 0.3.1
+         * @param initFile an input stream to the configuration file
+         * @exception ConfigureFailure if the method encountered a read or 
+         * syntax error.
+         **/
+        static void configure(std::istream& initFile);
+    };
+}
+
+#endif
diff --git a/VrUtils/log4cpp/include/log4cpp/SimpleLayout.hh b/VrUtils/log4cpp/include/log4cpp/SimpleLayout.hh
new file mode 100644
index 0000000..7e2c68f
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/SimpleLayout.hh
@@ -0,0 +1,34 @@
+/*
+ * SimpleLayout.hh
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_SIMPLELAYOUT_HH
+#define _LOG4CPP_SIMPLELAYOUT_HH
+
+#include 
+#include 
+
+namespace log4cpp {
+    
+    /**
+     * BasicLayout is a simple fixed format Layout implementation. 
+     **/
+    class LOG4CPP_EXPORT SimpleLayout : public Layout {
+        public:
+        SimpleLayout();
+        virtual ~SimpleLayout();
+
+        /**
+         * Formats the LoggingEvent in SimpleLayout style:
    
+         * "priority - message"
+         **/
+        virtual std::string format(const LoggingEvent& event);
+    };        
+}
+
+#endif // _LOG4CPP_SIMPLELAYOUT_HH
diff --git a/VrUtils/log4cpp/include/log4cpp/SmtpAppender.hh b/VrUtils/log4cpp/include/log4cpp/SmtpAppender.hh
new file mode 100644
index 0000000..b233bf8
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/SmtpAppender.hh
@@ -0,0 +1,40 @@
+/*
+ * Copyright 2002, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2002, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#if !defined(h_2c5af17f_8daf_418f_acb8_5cfce724ec1a)
+#define h_2c5af17f_8daf_418f_acb8_5cfce724ec1a
+
+#if defined(LOG4CPP_HAVE_BOOST)
+#include 
+#if BOOST_VERSION > 103400
+
+#include "Portability.hh"
+#include "LayoutAppender.hh"
+
+namespace log4cpp
+{
+   class LOG4CPP_EXPORT SmptAppender : public LayoutAppender
+   {
+      public:
+         struct mail_params;
+
+         SmptAppender(const std::string& name, const std::string& host, const std::string& from, 
+                      const std::string& to, const std::string& subject);
+         virtual ~SmptAppender();
+         virtual void close() { }
+      
+      protected:
+         virtual void _append(const LoggingEvent& event);
+
+      private:
+         mail_params * mail_params_;
+   };
+}
+
+#endif // BOOST_VERSION >= 103400
+#endif // LOG4CPP_HAS_BOOST
+#endif // h_2c5af17f_8daf_418f_acb8_5cfce724ec1a
diff --git a/VrUtils/log4cpp/include/log4cpp/StringQueueAppender.hh b/VrUtils/log4cpp/include/log4cpp/StringQueueAppender.hh
new file mode 100644
index 0000000..a54fc5c
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/StringQueueAppender.hh
@@ -0,0 +1,72 @@
+/*
+ * StringQueueAppender.hh
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_STRINGQUEUEAPPENDER_HH
+#define _LOG4CPP_STRINGQUEUEAPPENDER_HH
+
+#include 
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+
+    /**
+     * This class puts log messages in an in-memory queue. Its primary use 
+     * is in test cases, but it may be useful elsewhere as well.
+     *
+     * @since 0.2.4
+     **/
+    class LOG4CPP_EXPORT StringQueueAppender : public LayoutAppender {
+        public:
+
+        StringQueueAppender(const std::string& name);
+        virtual ~StringQueueAppender();
+        
+        virtual bool reopen();
+        virtual void close();
+
+        /**
+         * Return the current size of the message queue.
+         * Shorthand for getQueue().size().
+         * @returns the queue size
+         **/
+        virtual size_t queueSize() const;
+
+        /**
+         * Return the queue to which the Appends adds messages.
+         * @returns the message queue
+         **/
+        virtual std::queue& getQueue();
+
+        /**
+         * Return the queue to which the Appends adds messages.
+         * @returns the message queue
+         **/
+        virtual const std::queue& getQueue() const;
+
+        /**
+         * Pop the oldest log message from the front of the queue.
+         * @returns the oldest log message
+         **/
+        virtual std::string popMessage();
+
+        protected:
+        
+        /**
+         * Appends the LoggingEvent to the queue.
+         * @param event the LoggingEvent to layout and append to the queue.
+         **/
+        virtual void _append(const LoggingEvent& event);
+
+        std::queue _queue;
+    };
+}
+
+#endif // _LOG4CPP_STRINGQUEUEAPPENDER_HH
diff --git a/VrUtils/log4cpp/include/log4cpp/SyslogAppender.hh b/VrUtils/log4cpp/include/log4cpp/SyslogAppender.hh
new file mode 100644
index 0000000..61450b6
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/SyslogAppender.hh
@@ -0,0 +1,76 @@
+/*
+ * SyslogAppender.hh
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_SYSLOGAPPENDER_HH
+#define _LOG4CPP_SYSLOGAPPENDER_HH
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+
+    /**
+     * SyslogAppender sends LoggingEvents to the local syslog system.
+     **/
+    class SyslogAppender : public LayoutAppender {
+        public:
+
+        /**
+         * Translates a log4cpp priority to a syslog priority
+         * @param priority The log4cpp priority.
+         * @returns the syslog priority.
+         **/
+        static int toSyslogPriority(Priority::Value priority);
+
+        /**
+         * Instantiate a SyslogAppender with given name and name and facility
+         * for syslog. Note that the C syslog API is process global, so 
+         * instantion of a second SyslogAppender will 'overwrite' the 
+         * syslog name of the first.
+         * @param name The name of the Appender
+         * @param syslogName The ident parameter in the openlog(3) call.
+         * @param facility The syslog facility to log to. Defaults to LOG_USER.
+         **/         
+        SyslogAppender(const std::string& name, const std::string& syslogName, 
+                       int facility = LOG_USER);
+        virtual ~SyslogAppender();
+
+        /**
+         * Calls closelog(3) and openlog(3).
+         **/
+        virtual bool reopen();
+
+        /**
+         * Calls closelog(3) to close the syslog file descriptor.
+         **/
+        virtual void close();
+
+       protected:
+        
+        /**
+         * Calls openlog(3).
+         **/
+        virtual void open();
+
+        /**
+         * Sends a LoggingEvent to syslog.
+         * @param event the LoggingEvent to log.
+         **/
+        virtual void _append(const LoggingEvent& event);
+
+        const std::string _syslogName;
+        int _facility;
+    };
+}
+
+#endif // _LOG4CPP_SYSLOGAPPENDER_HH
diff --git a/VrUtils/log4cpp/include/log4cpp/TimeStamp.hh b/VrUtils/log4cpp/include/log4cpp/TimeStamp.hh
new file mode 100644
index 0000000..050a966
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/TimeStamp.hh
@@ -0,0 +1,74 @@
+/*
+ * TimeStamp.hh
+ *
+ * Copyright 2001, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2001, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_TIMESTAMP_HH
+#define _LOG4CPP_TIMESTAMP_HH
+
+#include 
+
+namespace log4cpp {
+
+    /**
+     * A simple TimeStamp abstraction
+     **/
+    class LOG4CPP_EXPORT TimeStamp {
+        public:
+        /**
+           Constructs a TimeStamp representing 'now'.
+        **/
+        TimeStamp();
+
+        /**
+           Constructs a TimeStamp representing the given offset since the
+           epoch ( 00:00:00 1970/1/1 UTC).
+        **/
+        TimeStamp(unsigned int seconds, unsigned int microSeconds = 0);
+
+        /**
+           Returns the 'seconds' part of the TimeStamp.
+        **/
+        inline int getSeconds() const {
+            return _seconds;
+        };
+
+        /** 
+           Returns the 'subseconds' part of the TimeStamp in milliseconds,
+           getMilliSeconds() == getMicroSeconds() / 1000. 
+        **/
+        inline int getMilliSeconds() const {
+            return _microSeconds / 1000;
+        };
+
+        /**
+           Returns the subsecond part of the TimeStamp in microseconds.
+           The actual precision of this value depends on the platform and
+           may be in the order of milliseconds rather than microseconds.
+         **/
+        inline int getMicroSeconds() const {
+            return _microSeconds;
+        };
+
+        /**
+           Returns a TimeStamp representing the time at which the application
+           started.
+        **/
+        static inline const TimeStamp& getStartTime() {
+            return _startStamp;
+        };
+
+        protected:
+        static TimeStamp _startStamp;
+
+        int _seconds;
+        int _microSeconds;
+    };
+}
+
+#endif // _LOG4CPP_TIMESTAMP_HH
+
diff --git a/VrUtils/log4cpp/include/log4cpp/TriggeringEventEvaluator.hh b/VrUtils/log4cpp/include/log4cpp/TriggeringEventEvaluator.hh
new file mode 100644
index 0000000..41a76b7
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/TriggeringEventEvaluator.hh
@@ -0,0 +1,23 @@
+/*
+ * Copyright 2002, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2002, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#if !defined(h_fb88639f_85c9_481a_a3a0_f25ae8bac24c)
+#define h_fb88639f_85c9_481a_a3a0_f25ae8bac24c
+
+#include 
+
+namespace log4cpp
+{
+   class LOG4CPP_EXPORT TriggeringEventEvaluator
+   {
+      public:
+         virtual bool eval(const LoggingEvent& event) const = 0;
+         virtual ~TriggeringEventEvaluator() {}
+   };
+}
+
+#endif // h_fb88639f_85c9_481a_a3a0_f25ae8bac24c
diff --git a/VrUtils/log4cpp/include/log4cpp/TriggeringEventEvaluatorFactory.hh b/VrUtils/log4cpp/include/log4cpp/TriggeringEventEvaluatorFactory.hh
new file mode 100644
index 0000000..aff4371
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/TriggeringEventEvaluatorFactory.hh
@@ -0,0 +1,41 @@
+/*
+ * Copyright 2002, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2002, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#if !defined(h_dd233b8b_5c59_4956_9393_6581c95f9779)
+#define h_dd233b8b_5c59_4956_9393_6581c95f9779
+
+#include 
+#include 
+#include 
+#include "Portability.hh"
+#include "TriggeringEventEvaluator.hh"
+#include "FactoryParams.hh"
+
+namespace log4cpp
+{
+   class LOG4CPP_EXPORT TriggeringEventEvaluatorFactory
+   {
+      public:
+         typedef FactoryParams params_t;
+         typedef std::auto_ptr (*create_function_t)(const params_t& params);
+
+         static TriggeringEventEvaluatorFactory& getInstance();
+         void registerCreator(const std::string& class_name, create_function_t create_function);
+         std::auto_ptr create(const std::string& class_name, const params_t& params);
+         bool registered(const std::string& class_name) const;
+
+      private:
+         TriggeringEventEvaluatorFactory(){};
+
+         typedef std::map creators_t;
+         typedef creators_t::const_iterator const_iterator;
+
+         creators_t creators_;
+   };
+}
+
+#endif // h_dd233b8b_5c59_4956_9393_6581c95f9779
diff --git a/VrUtils/log4cpp/include/log4cpp/Win32DebugAppender.hh b/VrUtils/log4cpp/include/log4cpp/Win32DebugAppender.hh
new file mode 100644
index 0000000..5a6efc4
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/Win32DebugAppender.hh
@@ -0,0 +1,57 @@
+/*
+ * Win32DebugAppender.hh
+ *
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_WIN32DEBUGAPPENDER_HH
+#define _LOG4CPP_WIN32DEBUGAPPENDER_HH
+
+#ifdef WIN32	// only use this on Win32
+
+#include 
+#include "log4cpp/Export.hh"
+#include "log4cpp/LayoutAppender.hh"
+
+namespace log4cpp {
+
+	/**
+	 * Win32DebugAppender simply sends the log message to the default system
+	 * debugger on Win32 systems.  This is useful for users of MSVC and Borland
+	 * because the log messages will show up in the debugger window.
    
+         * NB: This class is only available on Win32 platforms.
+	 */
+    class LOG4CPP_EXPORT Win32DebugAppender : public LayoutAppender {
+        public:
+		/**
+		 * Constructor.
+		 * @param name Name used by the base classes only.
+		 */
+        Win32DebugAppender(const std::string& name);
+		/**
+		 * Destructor.
+		 */
+        virtual ~Win32DebugAppender();
+        
+		/**
+		 * Close method.  This is called by the framework, but there is nothing
+		 * to do for the OutputDebugString API, so it simply returns.
+		 */
+        virtual void close();
+
+        protected:
+		/**
+		 * Method that does the actual work.  In this case, it simply sets up the layout
+		 * and calls the OutputDebugString API.
+		 * @param event Event for which we are logging.
+		 */
+        virtual void _append(const LoggingEvent& event);
+    };
+}
+
+#else // WIN32
+#error NTEventLoggAppender is not available on on Win32 platforms
+#endif	// WIN32
+
+#endif // _LOG4CPP_WIN32DEBUGAPPENDER_HH
diff --git a/VrUtils/log4cpp/include/log4cpp/config-MinGW32.h b/VrUtils/log4cpp/include/log4cpp/config-MinGW32.h
new file mode 100644
index 0000000..42a5350
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/config-MinGW32.h
@@ -0,0 +1,105 @@
+/*
+ * Copyright 2002, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2002, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _INCLUDE_LOG4CPP_CONFIG_MINGW32_H
+#define _INCLUDE_LOG4CPP_CONFIG_MINGW32_H 1
+
+/* manually edited from include/log4cpp/config.h */
+
+/* Define if you have the syslog function.  */
+/* #undef LOG4CPP_HAVE_SYSLOG */
+
+/* Define if you have the `ftime' function. */
+#ifndef LOG4CPP_HAVE_FTIME
+#define LOG4CPP_HAVE_FTIME  1
+#endif
+
+/* Define if you have the `gettimeofday' function. */
+/* #undef LOG4CPP_HAVE_GETTIMEOFDAY */
+
+/* define if the compiler has int64_t */
+#ifndef LOG4CPP_HAVE_INT64_T
+#define LOG4CPP_HAVE_INT64_T
+#define int64_t __int64
+
+/* define if the compiler has in_addr_t */
+#ifndef LOG4CPP_HAVE_IN_ADDR_T
+#define LOG4CPP_HAVE_IN_ADDR_T
+
+#ifndef u_long
+typedef unsigned long u_long;
+#endif
+
+/* u_long is the type of in_addr.s_addr */
+typedef u_long in_addr_t;
+
+/* u_short is the type of sockaddr_in.sin_port */
+// typedef u_short              in_port_t;
+
+#endif
+
+#endif
+
+/* Define if you have the  header file.  */
+#ifndef LOG4CPP_HAVE_IO_H
+#define LOG4CPP_HAVE_IO_H 1
+#endif
+
+/* Define if you have the  header file.  */
+/* #undef LOG4CPP_HAVE_UNISTD_H */
+
+/* Define if you have the idsa library (-lidsa).  */
+/* #undef LOG4CPP_HAVE_LIBIDSA */
+
+/* Define if you have the `strcasecmp' function. */
+/* #undef LOG4CPP_HAVE_STRCASECMP */
+
+/* Name of package */
+#ifndef LOG4CPP_PACKAGE
+#define LOG4CPP_PACKAGE  "log4cpp"
+#endif
+
+/* Version number of package */
+#ifndef LOG4CPP_VERSION
+#define LOG4CPP_VERSION  "1.0"
+#endif
+
+/* define if the compiler implements namespaces */
+#ifndef LOG4CPP_HAVE_NAMESPACES
+#define LOG4CPP_HAVE_NAMESPACES 1
+#endif
+
+/* define if the compiler has stringstream */
+#ifndef LOG4CPP_HAVE_SSTREAM
+#define LOG4CPP_HAVE_SSTREAM 1
+#endif
+
+#define LOG4CPP_HAS_WCHAR_T 0
+
+/* define if the C library has snprintf */
+#ifndef LOG4CPP_HAVE_SNPRINTF
+#define LOG4CPP_HAVE_SNPRINTF 1
+#endif
+
+//#define LOG4CPP_HAVE_LOCALTIME_R 0
+
+/* define to get around problems with ERROR in windows.h */
+#ifndef LOG4CPP_FIX_ERROR_COLLISION
+#define LOG4CPP_FIX_ERROR_COLLISION 1
+#endif
+
+/* use threads */
+#ifndef LOG4CPP_HAVE_THREADING
+#define LOG4CPP_HAVE_THREADING
+#   if defined(LOG4CPP_STLPORT_AND_BOOST_BUILD)
+#      define LOG4CPP_USE_BOOSTTHREADS
+#   else
+#      define LOG4CPP_USE_MSTHREADS
+#   endif
+#endif
+
+#endif
diff --git a/VrUtils/log4cpp/include/log4cpp/config-openvms.h b/VrUtils/log4cpp/include/log4cpp/config-openvms.h
new file mode 100644
index 0000000..f0c17cf
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/config-openvms.h
@@ -0,0 +1,74 @@
+/*
+ * Copyright 2002, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2002, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _INCLUDE_LOG4CPP_CONFIG_OPENVMS_H
+#define _INCLUDE_LOG4CPP_CONFIG_OPENVMS_H 1
+ 
+/* include/log4cpp/config.h. Generated automatically at end of configure. */
+/* include/config.h.  Generated automatically by configure.  */
+/* include/config.h.in.  Generated automatically from configure.in by autoheader.  */
+
+/* Define if you have the  header file. */
+#ifndef LOG4CPP_HAVE_DLFCN_H 
+#define LOG4CPP_HAVE_DLFCN_H  1 
+#endif
+
+/* Define if you have the `ftime' function. */
+#ifndef LOG4CPP_HAVE_FTIME 
+#define LOG4CPP_HAVE_FTIME  1 
+#endif
+
+/* Define if you have the `gettimeofday' function. */
+#ifndef LOG4CPP_HAVE_GETTIMEOFDAY 
+#define LOG4CPP_HAVE_GETTIMEOFDAY  1 
+#endif
+
+/* define if the compiler has int64_t */
+#ifndef LOG4CPP_HAVE_INT64_T 
+#define LOG4CPP_HAVE_INT64_T   
+#include 
+#endif
+
+/* Define if you have the  header file. */
+/* #undef LOG4CPP_HAVE_IO_H */
+
+/* Define if you have the `idsa' library (-lidsa). */
+/* #undef LOG4CPP_HAVE_LIBIDSA */
+
+/* define if the compiler implements namespaces */
+#ifndef LOG4CPP_HAVE_NAMESPACES 
+#define LOG4CPP_HAVE_NAMESPACES   
+#endif
+
+/* define if the C library has snprintf */
+/* #undef LOG4CPP_HAVE_SNPRINTF */  
+
+/* define if the compiler has stringstream */
+#ifndef LOG4CPP_HAVE_SSTREAM 
+#define LOG4CPP_HAVE_SSTREAM   
+#endif
+
+/* Define if you have the `syslog' function. */
+/* #undef LOG4CPP_HAVE_SYSLOG */
+
+/* Define if you have the  header file. */
+#ifndef LOG4CPP_HAVE_UNISTD_H 
+#define LOG4CPP_HAVE_UNISTD_H  1 
+#endif
+
+/* Name of package */
+#ifndef LOG4CPP_PACKAGE 
+#define LOG4CPP_PACKAGE  "log4cpp" 
+#endif
+
+/* Version number of package */
+#ifndef LOG4CPP_VERSION 
+#define LOG4CPP_VERSION  "1.0" 
+#endif
+ 
+/* _INCLUDE_LOG4CPP_CONFIG_OPENVMS_H */
+#endif
diff --git a/VrUtils/log4cpp/include/log4cpp/config-win32-stlport-boost.h b/VrUtils/log4cpp/include/log4cpp/config-win32-stlport-boost.h
new file mode 100644
index 0000000..8905b93
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/config-win32-stlport-boost.h
@@ -0,0 +1,157 @@
+/*
+ * Copyright 2002, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2002, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _INCLUDE_LOG4CPP_CONFIG_WIN32_H
+#define _INCLUDE_LOG4CPP_CONFIG_WIN32_H 1
+ 
+/* manually edited from include/log4cpp/config.h */
+
+/* Define if you have the syslog function.  */
+/* #undef LOG4CPP_HAVE_SYSLOG */
+
+/* Define if you have the `ftime' function. */
+#ifndef LOG4CPP_HAVE_FTIME 
+#define LOG4CPP_HAVE_FTIME  1 
+#endif
+
+/* Define if you have the `gettimeofday' function. */
+/* #undef LOG4CPP_HAVE_GETTIMEOFDAY */ 
+
+/* define if the compiler has int64_t */
+#ifndef LOG4CPP_HAVE_INT64_T 
+#define LOG4CPP_HAVE_INT64_T
+
+#include 
+using boost::int64_t;
+
+#endif
+
+/* define if the compiler has in_addr_t */
+#ifndef LOG4CPP_HAVE_IN_ADDR_T 
+#define LOG4CPP_HAVE_IN_ADDR_T
+
+#ifndef u_long 
+typedef unsigned long u_long;
+#endif
+
+/* u_long is the type of in_addr.s_addr */
+typedef u_long in_addr_t;
+
+/* u_short is the type of sockaddr_in.sin_port */
+// typedef u_short		in_port_t;
+
+#endif
+
+/* Define if you have the  header file.  */
+#ifndef LOG4CPP_HAVE_IO_H
+#define LOG4CPP_HAVE_IO_H 1
+#endif
+
+/* Define if you have the  header file.  */
+/* #undef LOG4CPP_HAVE_UNISTD_H */
+
+/* Define if you have the idsa library (-lidsa).  */
+/* #undef LOG4CPP_HAVE_LIBIDSA */
+
+/* Define if you have the `strcasecmp' function. */
+/* #undef LOG4CPP_HAVE_STRCASECMP */
+
+/* Name of package */
+#ifndef LOG4CPP_PACKAGE
+#define LOG4CPP_PACKAGE  "log4cpp"
+#endif
+
+/* Version number of package */
+#ifndef LOG4CPP_VERSION
+#define LOG4CPP_VERSION  "1.0"
+#endif
+
+/* define if the compiler implements namespaces */
+#ifndef LOG4CPP_HAVE_NAMESPACES
+#define LOG4CPP_HAVE_NAMESPACES 1
+#endif
+
+/* define if the compiler has stringstream */
+#ifndef LOG4CPP_HAVE_SSTREAM
+#define LOG4CPP_HAVE_SSTREAM 1
+#endif
+
+#if defined(_MSC_VER)
+#    if _MSC_VER < 1300
+#       define LOG4CPP_HAS_WCHAR_T 0
+#    else
+#       define LOG4CPP_HAS_WCHAR_T 1
+#    endif
+#else
+#   define LOG4CPP_HAS_WCHAR_T 1
+#endif
+
+/* define if the C library has snprintf */
+#ifndef LOG4CPP_HAVE_SNPRINTF
+#define LOG4CPP_HAVE_SNPRINTF 1
+#endif
+
+#if defined(_MSC_VER) && _MSC_VER >= 1300
+#define LOG4CPP_HAVE_LOCALTIME_R 1
+#endif
+
+/* define to get around problems with ERROR in windows.h */
+#ifndef LOG4CPP_FIX_ERROR_COLLISION
+#define LOG4CPP_FIX_ERROR_COLLISION 1
+#endif
+
+/* define WIN32 for Borland */
+#ifndef WIN32
+#define WIN32
+#endif
+
+/* use threads */
+#ifndef LOG4CPP_HAVE_THREADING
+#define LOG4CPP_HAVE_THREADING
+#endif
+
+/* use boost threads */
+#ifndef LOG4CPP_USE_BOOSTTHREADS
+#define LOG4CPP_USE_BOOSTTHREADS
+#endif
+
+/* supply DLL main */
+#ifndef LOG4CPP_SUPPLY_DLLMAIN
+#define LOG4CPP_SUPPLY_DLLMAIN
+#endif
+
+/* MSVCs  and  headers are broken in the sense that they
+   put functions in the global namespace instead of std::
+   The #defines below enable a workaround for MSVC 6 and lower. If MSVC 7
+   is still broken please adjust the _MSC_VER version check and report it.
+   See also bug report #628211.
+*/
+#if defined(_MSC_VER) && _MSC_VER < 1300
+
+#ifndef LOG4CPP_CSTDLIB_NOT_IN_STD
+#define LOG4CPP_CSTDLIB_NOT_IN_STD
+#endif
+
+#ifndef LOG4CPP_CSTRING_NOT_IN_STD
+#define LOG4CPP_CSTRING_NOT_IN_STD
+#endif
+
+#ifndef LOG4CPP_CTIME_NOT_IN_STD
+#define LOG4CPP_CTIME_NOT_IN_STD
+#endif
+
+#ifndef LOG4CPP_CMATH_NOT_IN_STD
+#define LOG4CPP_CMATH_NOT_IN_STD
+#endif
+
+#endif
+
+/* define mode_t. Move to Portability.hh if more platforms need it */
+typedef int mode_t;
+
+/* _INCLUDE_LOG4CPP_CONFIG_WIN32_H */
+#endif
diff --git a/VrUtils/log4cpp/include/log4cpp/config-win32.h b/VrUtils/log4cpp/include/log4cpp/config-win32.h
new file mode 100644
index 0000000..12d0cfa
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/config-win32.h
@@ -0,0 +1,174 @@
+/*
+ * Copyright 2002, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2002, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _INCLUDE_LOG4CPP_CONFIG_WIN32_H
+#define _INCLUDE_LOG4CPP_CONFIG_WIN32_H 1
+ 
+/* manually edited from include/log4cpp/config.h */
+
+/* Define if you have the syslog function.  */
+/* #undef LOG4CPP_HAVE_SYSLOG */
+
+/* Define if you have the `ftime' function. */
+#ifndef LOG4CPP_HAVE_FTIME 
+#define LOG4CPP_HAVE_FTIME  1 
+#endif
+
+/* Define if you have the `gettimeofday' function. */
+/* #undef LOG4CPP_HAVE_GETTIMEOFDAY */ 
+
+/* define if the compiler has int64_t */
+#ifndef LOG4CPP_HAVE_INT64_T 
+#define LOG4CPP_HAVE_INT64_T
+typedef __int64 int64_t;
+
+/* define if the compiler has in_addr_t */
+#ifndef LOG4CPP_HAVE_IN_ADDR_T 
+#define LOG4CPP_HAVE_IN_ADDR_T
+
+#ifndef u_long 
+typedef unsigned long u_long;
+#endif
+
+/* u_long is the type of in_addr.s_addr */
+typedef u_long in_addr_t;
+
+/* u_short is the type of sockaddr_in.sin_port */
+// typedef u_short		in_port_t;
+
+#endif
+
+#if defined(_MSC_VER) && _MSC_VER < 1300
+#define LOG4CPP_MISSING_INT64_OSTREAM_OP   
+#endif
+
+#endif
+
+/* Define if you have the  header file.  */
+#ifndef LOG4CPP_HAVE_IO_H
+#define LOG4CPP_HAVE_IO_H 1
+#endif
+
+/* Define if you have the  header file.  */
+/* #undef LOG4CPP_HAVE_UNISTD_H */
+
+/* Define if you have the idsa library (-lidsa).  */
+/* #undef LOG4CPP_HAVE_LIBIDSA */
+
+/* Define if you have the `strcasecmp' function. */
+/* #undef LOG4CPP_HAVE_STRCASECMP */
+
+/* Name of package */
+#ifndef LOG4CPP_PACKAGE
+#define LOG4CPP_PACKAGE  "log4cpp"
+#endif
+
+/* Version number of package */
+#ifndef LOG4CPP_VERSION
+#define LOG4CPP_VERSION  "1.0"
+#endif
+
+/* define if the compiler implements namespaces */
+#ifndef LOG4CPP_HAVE_NAMESPACES
+#define LOG4CPP_HAVE_NAMESPACES 1
+#endif
+
+/* define if the compiler has stringstream */
+#ifndef LOG4CPP_HAVE_SSTREAM
+#define LOG4CPP_HAVE_SSTREAM 1
+#endif
+
+#if defined(_MSC_VER)
+#    if _MSC_VER < 1300
+#       define LOG4CPP_HAS_WCHAR_T 0
+#    else
+#       define LOG4CPP_HAS_WCHAR_T 1
+#    endif
+#else
+#   define LOG4CPP_HAS_WCHAR_T 1
+#endif
+
+/* define if the C library has snprintf */
+#ifndef LOG4CPP_HAVE_SNPRINTF
+#define LOG4CPP_HAVE_SNPRINTF 1
+#endif
+
+#if defined(_MSC_VER) && _MSC_VER >= 1300
+#define LOG4CPP_HAVE_LOCALTIME_R 1
+#endif
+
+/* define to get around problems with ERROR in windows.h */
+#ifndef LOG4CPP_FIX_ERROR_COLLISION
+#define LOG4CPP_FIX_ERROR_COLLISION 1
+#endif
+
+/* ensure auto_ptr is available in newer C++ standards */
+#if defined(_MSC_VER) && _MSC_VER >= 1900
+#ifndef _HAS_AUTO_PTR_ETC
+#define _HAS_AUTO_PTR_ETC 1
+#endif
+#endif
+
+/* define WIN32 for Borland */
+#ifndef WIN32
+#define WIN32
+#endif
+
+/* use threads */
+#ifndef LOG4CPP_HAVE_THREADING
+#define LOG4CPP_HAVE_THREADING
+#endif
+
+/* use ms threads */
+#ifndef LOG4CPP_USE_MSTHREADS
+#define LOG4CPP_USE_MSTHREADS
+#endif
+
+/* supply DLL main */
+#ifndef LOG4CPP_SUPPLY_DLLMAIN
+#define LOG4CPP_SUPPLY_DLLMAIN
+#endif
+
+/* MSVCs  and  headers are broken in the sense that they
+   put functions in the global namespace instead of std::
+   The #defines below enable a workaround for MSVC 6 and lower. If MSVC 7
+   is still broken please adjust the _MSC_VER version check and report it.
+   See also bug report #628211.
+*/
+#if defined(_MSC_VER) && _MSC_VER < 1300
+
+#ifndef LOG4CPP_CSTDLIB_NOT_IN_STD
+#define LOG4CPP_CSTDLIB_NOT_IN_STD
+#endif
+
+#ifndef LOG4CPP_CSTRING_NOT_IN_STD
+#define LOG4CPP_CSTRING_NOT_IN_STD
+#endif
+
+#ifndef LOG4CPP_CTIME_NOT_IN_STD
+#define LOG4CPP_CTIME_NOT_IN_STD
+#endif
+
+#ifndef LOG4CPP_CMATH_NOT_IN_STD
+#define LOG4CPP_CMATH_NOT_IN_STD
+#endif
+
+#endif
+
+/* define mode_t. Move to Portability.hh if more platforms need it */
+#if !defined(__BORLANDC__)
+typedef int mode_t;
+#endif
+
+#if defined(_MSC_VER) && _MSC_VER == 1310
+// warning C4275: interface non dll class 'std::runtime_error' utilise comme base 
+// d'une interface dll class 'log4cpp::ConfigureFailure'
+#pragma warning(disable: 4275)
+#endif
+
+/* _INCLUDE_LOG4CPP_CONFIG_WIN32_H */
+#endif
diff --git a/VrUtils/log4cpp/include/log4cpp/convenience.h b/VrUtils/log4cpp/include/log4cpp/convenience.h
new file mode 100644
index 0000000..04cac8d
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/convenience.h
@@ -0,0 +1,104 @@
+/*
+ * Copyright 2002, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2002, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef LOG4CPP_CONVENIENCE_H
+#define LOG4CPP_CONVENIENCE_H
+
+#define LOG4CPP_LOGGER(name) \
+  static log4cpp::Category& logger = log4cpp::Category::getInstance( name );
+
+#define LOG4CPP_LOGGER_N(var_name, name) \
+  static log4cpp::Category& var_name = log4cpp::Category::getInstance( name );
+
+// simple logging
+#define LOG4CPP_EMERG(logger, msg) \
+   if (logger.isEmergEnabled()) logger.emerg( msg );
+
+#define LOG4CPP_FATAL(logger, msg) \
+   if (logger.isFatalEnabled()) logger.fatal( msg );
+
+#define LOG4CPP_ALERT(logger, msg) \
+   if (logger.isAlertEnabled()) logger.alert( msg );
+
+#define LOG4CPP_CRIT(logger, msg) \
+   if (logger.isCritEnabled()) logger.crit( msg );
+
+#define LOG4CPP_ERROR(logger, msg) \
+   if (logger.isErrorEnabled()) logger.error( msg );
+
+#define LOG4CPP_WARN(logger, msg) \
+   if (logger.isWarnEnabled()) logger.warn( msg );
+
+#define LOG4CPP_NOTICE(logger, msg) \
+   if (logger.isNoticeEnabled()) logger.notice( msg );
+
+#define LOG4CPP_INFO(logger, msg) \
+   if (logger.isInfoEnabled()) logger.info( msg );
+
+#define LOG4CPP_DEBUG(logger, msg) \
+   if (logger.isDebugEnabled()) logger.debug( msg );
+
+
+// stream logging
+#define LOG4CPP_EMERG_S(logger) \
+   if (logger.isEmergEnabled()) logger.emergStream()
+
+#define LOG4CPP_FATAL_S(logger) \
+   if (logger.isFatalEnabled()) logger.fatalStream()
+
+#define LOG4CPP_ALERT_S(logger) \
+   if (logger.isAlertEnabled()) logger.alertStream()
+
+#define LOG4CPP_CRIT_S(logger) \
+   if (logger.isCritEnabled()) logger.critStream()
+
+#define LOG4CPP_ERROR_S(logger) \
+   if (logger.isErrorEnabled()) logger.errorStream()
+
+#define LOG4CPP_WARN_S(logger) \
+   if (logger.isWarnEnabled()) logger.warnStream()
+
+#define LOG4CPP_NOTICE_S(logger) \
+   if (logger.isNoticeEnabled()) logger.noticeStream()
+
+#define LOG4CPP_INFO_S(logger) \
+   if (logger.isInfoEnabled()) logger.infoStream()
+
+#define LOG4CPP_DEBUG_S(logger) \
+   if (logger.isDebugEnabled()) logger.debugStream()
+
+
+// stream logging with default logger "logger"
+#define LOG4CPP_EMERG_SD() \
+   if (logger.isEmergEnabled()) logger.emergStream()
+
+#define LOG4CPP_FATAL_SD() \
+   if (logger.isFatalEnabled()) logger.fatalStream()
+
+#define LOG4CPP_ALERT_SD() \
+   if (logger.isAlertEnabled()) logger.alertStream()
+
+#define LOG4CPP_CRIT_SD() \
+   if (logger.isCritEnabled()) logger.critStream()
+
+#define LOG4CPP_ERROR_SD() \
+   if (logger.isErrorEnabled()) logger.errorStream()
+
+#define LOG4CPP_WARN_SD() \
+   if (logger.isWarnEnabled()) logger.warnStream()
+
+#define LOG4CPP_NOTICE_SD() \
+   if (logger.isNoticeEnabled()) logger.noticeStream()
+
+#define LOG4CPP_INFO_SD() \
+   if (logger.isInfoEnabled()) logger.infoStream()
+
+#define LOG4CPP_DEBUG_SD() \
+   if (logger.isDebugEnabled()) logger.debugStream()
+
+#endif
+
diff --git a/VrUtils/log4cpp/include/log4cpp/threading/BoostThreads.hh b/VrUtils/log4cpp/include/log4cpp/threading/BoostThreads.hh
new file mode 100644
index 0000000..21620f2
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/threading/BoostThreads.hh
@@ -0,0 +1,55 @@
+/*
+ * BoostThreads.hh
+ *
+ * Copyright 2002, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2002, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_THREADING_BOOSTTHREADS_HH
+#define _LOG4CPP_THREADING_BOOSTTHREADS_HH
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+    namespace threading {
+        static std::string getThreadId() {
+            char buffer[14];
+            // Boost.Threads stores the thread ID but doesn't expose it
+            sprintf(buffer, "not available");
+            return std::string(buffer);
+        };
+        
+        typedef boost::mutex Mutex;
+        typedef boost::mutex::scoped_lock ScopedLock;
+
+        template class ThreadLocalDataHolder {
+            public:
+            inline T* get() const {
+                return _localData.get();
+            };
+
+            inline T* operator->() const { return _localData.get(); };
+            inline T& operator*() const { return *_localData.get(); };
+
+            inline T* release() {
+                return _localData.release();
+            };
+
+            inline void reset(T* p = NULL) {
+                _localData.reset(p);
+            };
+
+            private:
+            boost::thread_specific_ptr _localData;
+        };
+
+    }
+}
+#endif
diff --git a/VrUtils/log4cpp/include/log4cpp/threading/DummyThreads.hh b/VrUtils/log4cpp/include/log4cpp/threading/DummyThreads.hh
new file mode 100644
index 0000000..96369bd
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/threading/DummyThreads.hh
@@ -0,0 +1,67 @@
+/*
+ * DummyThreads.hh
+ *
+ * Copyright 2002, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2002, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_THREADING_DUMMYTHREADS_HH
+#define _LOG4CPP_THREADING_DUMMYTHREADS_HH
+
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+    namespace threading {
+        std::string getThreadId();
+        
+        /**
+           Dummy type 'int' for Mutex. Yes, this adds a bit of overhead in
+           the for of extra memory, but unfortunately 'void' is illegal.
+        **/
+        typedef int Mutex;
+
+        /**
+           Dummy type 'int' defintion of ScopedLock;
+        **/
+        typedef int ScopedLock;
+
+        template class ThreadLocalDataHolder {
+            public:
+            typedef T data_type;
+
+            inline ThreadLocalDataHolder() {};
+            inline ~ThreadLocalDataHolder() {
+                if (_data) 
+                    delete _data;
+            };
+            
+            inline T* get() const {
+                return _data;
+            };
+
+            inline T* operator->() const { return get(); };
+            inline T& operator*() const { return *get(); };
+
+            inline T* release() {
+                T* result = _data;
+                _data = NULL;
+
+                return result;
+            };
+
+            inline void reset(T* p = NULL) {
+                if (_data) 
+                    delete _data;
+                _data = p;
+            };
+
+            private:            
+            T* _data;            
+        };
+    }
+}
+#endif
diff --git a/VrUtils/log4cpp/include/log4cpp/threading/MSThreads.hh b/VrUtils/log4cpp/include/log4cpp/threading/MSThreads.hh
new file mode 100644
index 0000000..f6b567c
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/threading/MSThreads.hh
@@ -0,0 +1,161 @@
+/*
+ * MSThreads.hh
+ *
+ * Copyright 2002, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2002, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_THREADING_MSTHREADS_HH
+#define _LOG4CPP_THREADING_MSTHREADS_HH
+
+#include 
+
+// deal with ERROR #define
+// N.B. This #includes windows.h with NOGDI and WIN32_LEAN_AND_MEAN #defined.
+//      If this is not what the user wants, #include windows.h before this file.
+#ifndef _WINDOWS_
+#  ifndef NOGDI
+#    define NOGDI  // this will circumvent the ERROR #define in windows.h
+#    define LOG4CPP_UNDEFINE_NOGDI
+#  endif
+
+#  ifndef WIN32_LEAN_AND_MEAN
+#    define WIN32_LEAN_AND_MEAN
+#    define LOG4CPP_UNDEFINE_WIN32_LEAN_AND_MEAN
+#  endif
+
+#  include 
+
+#  ifdef LOG4CPP_UNDEFINE_NOGDI
+#    undef NOGDI
+#  endif
+
+#  ifdef LOG4CPP_UNDEFINE_WIN32_LEAN_AND_MEAN
+#    undef WIN32_LEAN_AND_MEAN
+#  endif
+
+#endif // done dealing with ERROR #define
+
+namespace log4cpp {
+    namespace threading {
+        /**
+         * Return an identifier for the current thread. What these 
+         * identifiers look like is completely up to the underlying 
+         * thread library.
+         **/
+        std::string getThreadId();
+        
+        /**
+         * A simple object wrapper around CreateMutex() and DeleteMutex()
+         */
+        class LOG4CPP_EXPORT MSMutex {
+            public:
+            MSMutex() { InitializeCriticalSection(&_criticalSection); }
+            ~MSMutex() { DeleteCriticalSection(&_criticalSection); }
+            inline LPCRITICAL_SECTION getCriticalSection() {
+                return &_criticalSection;
+            }
+
+            private:
+            MSMutex(const MSMutex& other);
+            CRITICAL_SECTION _criticalSection;
+        };
+
+        /**
+         * A simple, non recursive Mutex.
+         **/
+        typedef MSMutex Mutex;
+
+        /**
+         * A simple object wrapper around WaitForSingleObject() and
+         * ReleaseMutex()
+         */
+        class MSScopedLock {
+            public:
+            MSScopedLock(MSMutex& mutex) {
+                _criticalSection = mutex.getCriticalSection();
+                EnterCriticalSection(_criticalSection);
+            }
+
+            ~MSScopedLock() { LeaveCriticalSection(_criticalSection); }
+
+            private:
+            MSScopedLock(const MSScopedLock& other);
+            LPCRITICAL_SECTION _criticalSection;
+        };
+
+        /**
+         * A simple "resource acquisition is initialization" idiom type lock
+         * for Mutex. 
+         **/
+        typedef MSScopedLock ScopedLock;
+
+        /** 
+         * This class holds Thread local data of type T, i.e. for each
+         * thread a ThreadLocalDataHolder holds 0 or 1 instance of T. 
+         * The held object must be heap allocated and will be deleted 
+         * upon termination of the thread to which it belongs.
+         **/
+        template class ThreadLocalDataHolder {
+            public:
+            inline ThreadLocalDataHolder() :
+                _key(TlsAlloc()) {};
+
+            inline ~ThreadLocalDataHolder() { TlsFree(_key); };
+            
+            /**
+             * Obtains the Object held for the current thread.
+             * @return a pointer to the held Object or NULL if no
+             * Object has been set for the current thread.
+             **/
+            inline T* get() const {
+                return (T*)TlsGetValue(_key);
+            };
+
+            /**
+             * Obtains the Object held for the current thread. 
+             * Initially each thread holds NULL.
+             * @return a pointer to the held Object or NULL if no
+             * Object has been set for the current thread.
+             **/
+            inline T* operator->() const { return get(); };
+
+            /**
+             * Obtains the Object held for the current thread.
+             * @pre get() != NULL
+             * @return a reference to the held Object.
+             **/
+            inline T& operator*() const { return *get(); };
+
+            /**
+             * Releases the Object held for the current thread.
+             * @post get() == NULL
+             * @return a pointer to the Object thas was held for 
+             * the current thread or NULL if no Object was held.
+             **/
+            inline T* release() {
+                T* result = (T*)TlsGetValue(_key);
+                TlsSetValue(_key, NULL);
+                return result;
+            };
+
+            /**
+             * Sets a new Object to be held for the current thread. A 
+             * previously set Object will be deleted.
+             * @param p the new object to hold.
+             * @post get() == p
+             **/
+            inline void reset(T* p = NULL) {
+                T* thing = (T*)TlsGetValue(_key);
+                delete thing;
+                TlsSetValue(_key, p);
+            };
+
+            private:            
+            DWORD _key;            
+        };
+    }
+}
+#endif
diff --git a/VrUtils/log4cpp/include/log4cpp/threading/OmniThreads.hh b/VrUtils/log4cpp/include/log4cpp/threading/OmniThreads.hh
new file mode 100644
index 0000000..bde8c99
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/threading/OmniThreads.hh
@@ -0,0 +1,137 @@
+/*
+ * OmniThreads.hh
+ *
+ * Copyright 2002, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2002, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_THREADING_OMNITHREADS_HH
+#define _LOG4CPP_THREADING_OMNITHREADS_HH
+
+#include 
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+    namespace threading {
+        /**
+         * Return an identifier for the current thread. What these 
+         * identifiers look like is completely up to the underlying 
+         * thread library. OmniThreads returns the POSIX thread Id.
+         **/
+        std::string getThreadId();
+        
+        /**
+         * A simple, non recursive Mutex.
+         * Equivalent to Boost.Threads boost::mutex
+         **/
+        typedef omni_mutex Mutex;
+
+        /**
+         * A simple "resource acquisition is initialization" idiom type lock
+         * for Mutex. 
+         * Equivalent to Boost.Threads boost::scoped_lock.
+         **/
+        typedef omni_mutex_lock ScopedLock;
+
+        /** 
+         * This class holds Thread local data of type T, i.e. for each
+         * thread a ThreadLocalDataHolder holds 0 or 1 instance of T. 
+         * The held object must be heap allocated and will be deleted 
+         * upon termination of the thread to wich it belongs.
+         * This is an omni_threads based equivalent of Boost.Threads 
+         * thread_specific_ptr class.
+         **/
+        template class ThreadLocalDataHolder {
+            public:
+            typedef T data_type;
+
+            inline ThreadLocalDataHolder() :
+                _key(omni_thread::allocate_key()) {};
+
+            inline ~ThreadLocalDataHolder() {};
+            
+            /**
+             * Obtains the Object held for the current thread.
+             * @return a pointer to the held Object or NULL if no
+             * Object has been set for the current thread.
+             **/
+            inline T* get() const {
+                Holder* holder = dynamic_cast(
+                    ::omni_thread::self()->get_value(_key));
+                return (holder) ? holder->data : NULL;
+            };
+
+            /**
+             * Obtains the Object held for the current thread. 
+             * Initially each thread holds NULL.
+             * @return a pointer to the held Object or NULL if no
+             * Object has been set for the current thread.
+             **/
+            inline T* operator->() const { return get(); };
+
+            /**
+             * Obtains the Object held for the current thread.
+             * @pre get() != NULL
+             * @return a reference to the held Object.
+             **/
+            inline T& operator*() const { return *get(); };
+
+            /**
+             * Releases the Object held for the current thread.
+             * @post get() == NULL
+             * @return a pointer to the Object thas was held for 
+             * the current thread or NULL if no Object was held.
+             **/
+            inline T* release() {
+                T* result = NULL;
+                Holder* holder = dynamic_cast(
+                    ::omni_thread::self()->get_value(_key));
+              
+                if (holder) {
+                    result = holder->data;
+                    holder->data = NULL;
+                }
+
+                return result;
+            };
+
+            /**
+             * Sets a new Object to be held for the current thread. A 
+             * previously set Object will be deleted.
+             * @param p the new object to hold.
+             * @post get() == p
+             **/
+            inline void reset(T* p = NULL) {
+                Holder* holder = dynamic_cast(
+                    ::omni_thread::self()->get_value(_key));
+                if (holder) {
+                    if (holder->data)
+                        delete holder->data;
+
+                    holder->data = p;
+                } else {
+                    holder = new Holder(p);
+                    ::omni_thread::self()->set_value(_key, holder);
+                }
+            };
+
+            private:            
+            class Holder : public omni_thread::value_t {
+                public:
+                Holder(data_type* data) : data(data) {};
+                virtual ~Holder() { if (data) delete (data); };
+                data_type* data;
+                private:
+                Holder(const Holder& other);
+                Holder& operator=(const Holder& other);
+            };
+
+            omni_thread::key_t _key;            
+        };
+    }
+}
+#endif
diff --git a/VrUtils/log4cpp/include/log4cpp/threading/PThreads.hh b/VrUtils/log4cpp/include/log4cpp/threading/PThreads.hh
new file mode 100644
index 0000000..5c70a61
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/threading/PThreads.hh
@@ -0,0 +1,125 @@
+/*
+ * PThreads.hh
+ *
+ * Copyright 2002, Emiliano Martin emilianomc@terra.es All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_THREADING_PTHREADS_HH
+#define _LOG4CPP_THREADING_PTHREADS_HH
+
+#include 
+#include 
+#include 
+#include 
+#include 
+
+
+namespace log4cpp {
+    namespace threading {
+
+        /** 
+         * returns the thread ID
+         **/
+        std::string getThreadId();
+        
+        /**
+         **/
+        class Mutex {
+            private:
+            pthread_mutex_t mutex;
+
+            public:
+            inline Mutex() {
+                ::pthread_mutex_init(&mutex, NULL);
+            }
+
+            inline void lock() {
+                ::pthread_mutex_lock(&mutex);
+            }
+
+            inline void unlock() {
+                ::pthread_mutex_unlock(&mutex);
+            }
+
+            inline ~Mutex() {
+                ::pthread_mutex_destroy(&mutex);
+            }
+
+            private:
+            Mutex(const Mutex& m);
+            Mutex& operator=(const Mutex &m);
+        };
+
+        /**
+         *	definition of ScopedLock;
+         **/
+        class ScopedLock {
+            private:
+            Mutex& _mutex;
+
+            public:
+            inline ScopedLock(Mutex& mutex) :
+                _mutex(mutex) {
+                _mutex.lock();
+            }
+
+            inline ~ScopedLock() {
+                _mutex.unlock();
+            }
+        };
+
+        /**
+         * 
+         **/
+        template class ThreadLocalDataHolder {
+            private:            
+            pthread_key_t _key;              
+
+            public:
+            typedef T data_type;
+
+            inline ThreadLocalDataHolder() {
+                ::pthread_key_create(&_key, freeHolder);         
+            }
+
+            inline static void freeHolder(void *p) {
+                assert(p != NULL);
+                delete reinterpret_cast(p);
+             }
+
+            inline ~ThreadLocalDataHolder() {
+                T *data = get();
+                if (data != NULL) { 
+                    delete data;
+                }
+                ::pthread_key_delete(_key);
+            }
+            
+            inline T* get() const {
+                return reinterpret_cast(::pthread_getspecific(_key)); 
+            }
+
+            inline T* operator->() const { return get(); }
+            inline T& operator*() const { return *get(); }
+
+            inline T* release() {
+                T* result = get();
+                ::pthread_setspecific(_key, NULL); 
+
+                return result;
+            }
+
+            inline void reset(T* p = NULL) {
+                T *data = get();
+                if (data != NULL) {
+                    delete data;
+                }
+                ::pthread_setspecific(_key, p); 
+            }
+        };
+
+    }
+}
+#endif
diff --git a/VrUtils/log4cpp/include/log4cpp/threading/Threading.hh b/VrUtils/log4cpp/include/log4cpp/threading/Threading.hh
new file mode 100644
index 0000000..fa1450c
--- /dev/null
+++ b/VrUtils/log4cpp/include/log4cpp/threading/Threading.hh
@@ -0,0 +1,37 @@
+/*
+ * Threading.hh
+ *
+ * Copyright 2002, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2002, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_THREADING_THREADING_HH
+#define _LOG4CPP_THREADING_THREADING_HH
+
+#include 
+
+#ifdef LOG4CPP_HAVE_THREADING
+
+#ifdef LOG4CPP_USE_OMNITHREADS
+#include 
+#endif
+
+#ifdef LOG4CPP_USE_BOOSTTHREADS
+#include 
+#endif
+
+#ifdef LOG4CPP_USE_MSTHREADS
+#include 
+#endif
+
+#ifdef LOG4CPP_USE_PTHREADS
+#include 
+#endif
+
+#else /* LOG4CPP_HAVE_THREADING */
+#include 
+#endif /* LOG4CPP_HAVE_THREADING */
+
+#endif
diff --git a/VrUtils/log4cpp/src/AbortAppender.cpp b/VrUtils/log4cpp/src/AbortAppender.cpp
new file mode 100644
index 0000000..f67a4a5
--- /dev/null
+++ b/VrUtils/log4cpp/src/AbortAppender.cpp
@@ -0,0 +1,52 @@
+/*
+ * AbortAppender.cpp
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include "PortabilityImpl.hh"
+#include 
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+
+    AbortAppender::AbortAppender(const std::string& name) : 
+        AppenderSkeleton(name) {
+    }
+    
+    AbortAppender::~AbortAppender() {
+        close();
+    }
+
+    void AbortAppender::close() {
+        // empty
+    }
+
+    void AbortAppender::_append(const LoggingEvent& event) {
+        std::abort();
+    }
+
+    bool AbortAppender::reopen() {
+        return true;
+    }
+      
+    bool AbortAppender::requiresLayout() const {
+        return false;
+    }
+
+    void AbortAppender::setLayout(Layout* layout) {
+        return;
+    }
+
+    std::auto_ptr create_abort_appender(const FactoryParams& params)
+    {
+       std::string name;
+       params.get_for("abort appender").required("name", name);
+       return std::auto_ptr(new AbortAppender(name));
+    }
+}
diff --git a/VrUtils/log4cpp/src/Appender.cpp b/VrUtils/log4cpp/src/Appender.cpp
new file mode 100644
index 0000000..4d06ea2
--- /dev/null
+++ b/VrUtils/log4cpp/src/Appender.cpp
@@ -0,0 +1,123 @@
+/*
+ * Appender.cpp
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include "PortabilityImpl.hh"
+#include 
+#include 
+
+namespace log4cpp {
+	static int appenders_nifty_counter; // zero initialized at load time
+	static char appenderMapStorage_buf[sizeof(Appender::AppenderMapStorage)]; // memory for the nifty-counter singleton object
+	Appender::AppenderMapStorage &Appender::_appenderMapStorageInstance = reinterpret_cast (appenderMapStorage_buf); // memory for placement new
+
+	Appender::AppenderMapStorage::AppenderMapStorage()  { 
+		_allAppenders = new AppenderMap(); 
+	}
+	Appender::AppenderMapStorage::~AppenderMapStorage() { 
+		_deleteAllAppenders(); 
+		delete _allAppenders; 
+	}
+	
+	Appender::AppenderMapStorageInitializer::AppenderMapStorageInitializer() {
+		 if (appenders_nifty_counter++ == 0) {
+// MSVC's  requires redefinition of the new operator, but could not deal with placement new form of it
+#ifdef MSVC_MEMORY_LEAK_CHECK
+#pragma push_macro("new")
+#define new new
+#endif // MSVC_MEMORY_LEAK_CHECK
+			 new (&_appenderMapStorageInstance) AppenderMapStorage(); // placement new
+#ifdef MSVC_MEMORY_LEAK_CHECK
+#pragma pop_macro("new")
+#endif // MSVC_MEMORY_LEAK_CHECK
+		 }
+ 	}
+	Appender::AppenderMapStorageInitializer::~AppenderMapStorageInitializer() {
+		if (--appenders_nifty_counter == 0) {
+			(&_appenderMapStorageInstance)->~AppenderMapStorage ();
+		}
+	}
+
+    /* assume _appenderMapMutex locked */
+    Appender::AppenderMap& Appender::_getAllAppenders() {
+		return *_appenderMapStorageInstance._allAppenders;
+    }
+
+    Appender* Appender::getAppender(const std::string& name) {
+        threading::ScopedLock lock(_appenderMapStorageInstance._appenderMapMutex);
+        AppenderMap& allAppenders = Appender::_getAllAppenders();
+        AppenderMap::iterator i = allAppenders.find(name);
+        return (allAppenders.end() == i) ? NULL : ((*i).second);
+    }
+    
+    void Appender::_addAppender(Appender* appender) {
+        //REQUIRE(_allAppenders.find(appender->getName()) == _getAllAppenders().end())
+        threading::ScopedLock lock(_appenderMapStorageInstance._appenderMapMutex);
+        _getAllAppenders()[appender->getName()] = appender;
+    }
+
+    void Appender::_removeAppender(Appender* appender) {
+        threading::ScopedLock lock(_appenderMapStorageInstance._appenderMapMutex);
+		//private called from destructor only, but may be triggered by client code in several treads
+        _getAllAppenders().erase(appender->getName());
+    }
+    
+    bool Appender::reopenAll() {
+        threading::ScopedLock lock(_appenderMapStorageInstance._appenderMapMutex);
+        bool result = true;
+        AppenderMap& allAppenders = _getAllAppenders();
+        for(AppenderMap::iterator i = allAppenders.begin(); i != allAppenders.end(); i++) {
+            result = result && ((*i).second)->reopen();
+        }
+        
+        return result;
+    }
+    
+    void Appender::closeAll() {
+        threading::ScopedLock lock(_appenderMapStorageInstance._appenderMapMutex);
+        AppenderMap& allAppenders = _getAllAppenders();
+        for(AppenderMap::iterator i = allAppenders.begin(); i != allAppenders.end(); i++) {
+            ((*i).second)->close();
+        }
+    }
+    
+    void Appender::_deleteAllAppenders() {
+		// deleting each appenders will cause a lock on Appender::_appenderMapMutex to be obtained again within destructor. to avoid nested locks:
+		std::vector appenders;
+		{
+			threading::ScopedLock lock(_appenderMapStorageInstance._appenderMapMutex);
+			AppenderMap& allAppenders = _getAllAppenders();
+			appenders.reserve(allAppenders.size());
+			for(AppenderMap::iterator i = allAppenders.begin(); i != allAppenders.end(); ) {
+				Appender* app = (*i).second;
+				++i;
+				appenders.push_back(app);
+			}
+		    allAppenders.clear();
+		}
+		_deleteAllAppendersWOLock(appenders);
+	}    
+
+    void Appender::_deleteAllAppendersWOLock(std::vector &appenders) {
+    /* assume Appender::_appenderMapMutex not locked */
+        AppenderMap& allAppenders = _getAllAppenders();
+        for(std::vector::iterator i = appenders.begin(); i != appenders.end(); ++i) {
+            Appender *app = (*i);
+            delete (app);
+        }
+    }    
+
+    Appender::Appender(const std::string& name) :
+        _name(name) {
+        _addAppender(this);
+    }
+    
+    Appender::~Appender() {
+        _removeAppender(this);
+    }
+}
diff --git a/VrUtils/log4cpp/src/AppenderSkeleton.cpp b/VrUtils/log4cpp/src/AppenderSkeleton.cpp
new file mode 100644
index 0000000..51bab5f
--- /dev/null
+++ b/VrUtils/log4cpp/src/AppenderSkeleton.cpp
@@ -0,0 +1,60 @@
+/*
+ * AppenderSkeleton.cpp
+ *
+ * Copyright 2001, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2001, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include "PortabilityImpl.hh"
+#include 
+
+namespace log4cpp {
+
+    AppenderSkeleton::AppenderSkeleton(const std::string& name) :
+        Appender(name),
+        _threshold(Priority::NOTSET),
+        _filter(NULL) {
+    }
+
+    AppenderSkeleton::~AppenderSkeleton() {
+        if (_filter)
+            delete _filter;
+    }
+    
+    bool AppenderSkeleton::reopen() {
+        return true;
+    }
+    
+    void AppenderSkeleton::doAppend(const LoggingEvent& event) {
+        if ((Priority::NOTSET == _threshold) || (event.priority <= _threshold)) {
+            if (!_filter || (_filter->decide(event) != Filter::DENY)) {
+                _append(event);
+            }
+        }
+    }
+
+    void AppenderSkeleton::setThreshold(Priority::Value priority) {
+        _threshold = priority;
+    }
+    
+    Priority::Value AppenderSkeleton::getThreshold() {
+        return _threshold;
+    }
+    
+    void AppenderSkeleton::setFilter(Filter* filter) {
+        if (_filter != filter) {
+            if (_filter)
+                delete _filter;
+            
+            _filter = filter;
+        }
+    }
+    
+    Filter* AppenderSkeleton::getFilter() {
+        return _filter;
+    }
+    
+}
+
diff --git a/VrUtils/log4cpp/src/AppendersFactory.cpp b/VrUtils/log4cpp/src/AppendersFactory.cpp
new file mode 100644
index 0000000..0ed0af8
--- /dev/null
+++ b/VrUtils/log4cpp/src/AppendersFactory.cpp
@@ -0,0 +1,90 @@
+/*
+ * Copyright 2002, Log4cpp Project. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+
+#include 
+#include 
+
+namespace log4cpp
+{
+   static AppendersFactory* appenders_factory_ = 0;
+
+   std::auto_ptr create_file_appender(const FactoryParams&);
+   std::auto_ptr create_roll_file_appender(const FactoryParams&);
+   std::auto_ptr create_daily_roll_file_appender(const FactoryParams&);
+   std::auto_ptr create_idsa_appender(const FactoryParams&);
+   std::auto_ptr create_nt_event_log_appender(const FactoryParams&);
+   std::auto_ptr create_remote_syslog_appender(const FactoryParams&);
+   std::auto_ptr create_syslog_appender(const FactoryParams&);
+   std::auto_ptr create_win32_debug_appender(const FactoryParams&);
+   std::auto_ptr create_abort_appender(const FactoryParams&);
+   std::auto_ptr create_smtp_appender(const FactoryParams&);
+
+   AppendersFactory& AppendersFactory::getInstance()
+   {
+      if (!appenders_factory_)
+      {
+         std::auto_ptr af(new AppendersFactory);
+         
+         af->registerCreator("file", &create_file_appender);
+         af->registerCreator("roll file", &create_roll_file_appender);
+         af->registerCreator("daily roll file", &create_daily_roll_file_appender);
+#if !defined(LOG4CPP_DISABLE_REMOTE_SYSLOG)
+         af->registerCreator("remote syslog", &create_remote_syslog_appender);
+#endif
+         af->registerCreator("abort", &create_abort_appender);
+
+#if defined(LOG4CPP_HAVE_LIBIDSA)
+         af->registerCreator("idsa", &create_idsa_appender);
+#endif
+
+#if defined(LOG4CPP_HAVE_SYSLOG)
+         af->registerCreator("syslog", &create_syslog_appender);
+#endif
+
+#if defined(WIN32)
+         af->registerCreator("win32 debug", &create_win32_debug_appender);
+         af->registerCreator("nt event log", &create_nt_event_log_appender);
+#endif
+
+#if !defined(LOG4CPP_DISABLE_SMTP)
+#if defined(LOG4CPP_HAVE_BOOST)
+#include 
+#if BOOST_VERSION >= 103500
+         af->registerCreator("smtp", &create_smtp_appender);
+#endif // BOOST_VERSION >= 103500
+#endif // LOG4CPP_HAVE_BOOST
+#endif // LOG4CPP_DISABLE_SMTP
+
+         appenders_factory_ = af.release();
+      }
+
+      return *appenders_factory_;
+   }
+
+   void AppendersFactory::registerCreator(const std::string& class_name, create_function_t create_function)
+   {
+      const_iterator i = creators_.find(class_name);
+      if (i != creators_.end())
+         throw std::invalid_argument("Appender creator for type name '" + class_name + "' already registered");
+
+      creators_[class_name] = create_function;
+   }
+
+   std::auto_ptr AppendersFactory::create(const std::string& class_name, const params_t& params)
+   {
+      const_iterator i = creators_.find(class_name);
+      if (i == creators_.end())
+         throw std::invalid_argument("There is no appender with type name '" + class_name + "'");
+
+      return (*i->second)(params);
+   }
+
+   bool AppendersFactory::registered(const std::string& class_name) const
+   {
+      return creators_.end() != creators_.find(class_name);
+   }
+}
diff --git a/VrUtils/log4cpp/src/BasicConfigurator.cpp b/VrUtils/log4cpp/src/BasicConfigurator.cpp
new file mode 100644
index 0000000..b7797a3
--- /dev/null
+++ b/VrUtils/log4cpp/src/BasicConfigurator.cpp
@@ -0,0 +1,35 @@
+/*
+ * BasicConfigurator.cpp
+ *
+ * Copyright 2002, Log4cpp Project. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+#include "PortabilityImpl.hh"
+
+#ifdef LOG4CPP_HAVE_IO_H
+#    include 
+#endif
+#ifdef LOG4CPP_HAVE_UNISTD_H
+#    include 
+#endif
+
+#include 
+#include 
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+
+    void BasicConfigurator::configure() {
+        Category& root = Category::getRoot();
+        root.setPriority(Priority::INFO);
+        root.removeAllAppenders();
+        root.addAppender(new FileAppender("_", ::dup(fileno(stdout))));
+    }
+
+}
+
+
+
diff --git a/VrUtils/log4cpp/src/BasicLayout.cpp b/VrUtils/log4cpp/src/BasicLayout.cpp
new file mode 100644
index 0000000..904df20
--- /dev/null
+++ b/VrUtils/log4cpp/src/BasicLayout.cpp
@@ -0,0 +1,43 @@
+/*
+ * BasicLayout.cpp
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include "PortabilityImpl.hh"
+#include 
+#include 
+#include 
+#include 
+
+#ifdef LOG4CPP_HAVE_SSTREAM
+#include 
+#endif
+
+namespace log4cpp {
+
+    BasicLayout::BasicLayout() {
+    }
+    
+    BasicLayout::~BasicLayout() {
+    }
+
+    std::string BasicLayout::format(const LoggingEvent& event) {
+        std::ostringstream message;
+
+        const std::string& priorityName = Priority::getPriorityName(event.priority);
+        message << event.timeStamp.getSeconds() << " " << priorityName << " " 
+                << event.categoryName << " " << event.ndc << ": " 
+                << event.message << std::endl;
+
+        return message.str();
+    }
+
+    std::auto_ptr create_basic_layout(const FactoryParams& params)
+    {
+       return std::auto_ptr(new BasicLayout);
+    }
+}
diff --git a/VrUtils/log4cpp/src/BufferingAppender.cpp b/VrUtils/log4cpp/src/BufferingAppender.cpp
new file mode 100644
index 0000000..7b36398
--- /dev/null
+++ b/VrUtils/log4cpp/src/BufferingAppender.cpp
@@ -0,0 +1,53 @@
+/*
+ * Copyright 2002, Log4cpp Project. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include "PortabilityImpl.hh"
+#include 
+#include 
+#include 
+#include 
+
+namespace log4cpp
+{
+   BufferingAppender::BufferingAppender(const std::string name, unsigned long max_size, 
+                                        std::auto_ptr sink, std::auto_ptr evaluator) 
+                     :LayoutAppender(name), max_size_(max_size), sink_(sink), evaluator_(evaluator), lossy_(false)
+   {
+      max_size_ = (max)(1UL, max_size_);
+   }
+   
+   void BufferingAppender::_append(const LoggingEvent& event)
+   {
+      if (queue_.size() == max_size_)
+         if (lossy_)
+            queue_.pop_back();
+         else
+            dump();
+
+      queue_.push_front(event);
+      
+      if (evaluator_->eval(event))
+      {
+         dump();
+         queue_.clear();
+      }
+   }
+
+   static const std::string EMPTY;
+   
+   void BufferingAppender::dump()
+   {
+      Layout& layout = _getLayout();
+      std::ostringstream s;
+      //  Solaris 10 CC can't work with const_reverse_iterator
+      for(queue_t::reverse_iterator i = queue_.rbegin(), last = queue_.rend(); i != last; ++i)
+         s << layout.format(*i);
+
+      LoggingEvent event(EMPTY, s.str(), EMPTY, Priority::NOTSET);
+      sink_->doAppend(event);
+   }
+}
+
diff --git a/VrUtils/log4cpp/src/Category.cpp b/VrUtils/log4cpp/src/Category.cpp
new file mode 100644
index 0000000..1516a19
--- /dev/null
+++ b/VrUtils/log4cpp/src/Category.cpp
@@ -0,0 +1,430 @@
+/*
+ * Category.cpp
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include "PortabilityImpl.hh"
+
+#ifdef LOG4CPP_HAVE_UNISTD_H
+#    include 
+#endif
+
+#include 
+#include 
+#include 
+#include "StringUtil.hh"
+
+namespace log4cpp {
+
+    Category& Category::getRoot() {
+        return getInstance("");
+    }
+
+    void Category::setRootPriority(Priority::Value priority) {
+        getRoot().setPriority(priority);
+    }
+
+    Priority::Value Category::getRootPriority() throw() {
+        return getRoot().getPriority();
+    }
+
+    Category& Category::getInstance(const std::string& name) {
+        return HierarchyMaintainer::getDefaultMaintainer().getInstance(name);
+    }
+
+    Category* Category::exists(const std::string& name) {
+        return HierarchyMaintainer::getDefaultMaintainer().getExistingInstance(name);
+    }
+
+    std::vector* Category::getCurrentCategories() {
+        return HierarchyMaintainer::getDefaultMaintainer().
+            getCurrentCategories();
+    }
+
+    void Category::shutdown() {
+        HierarchyMaintainer::getDefaultMaintainer().shutdown();
+    }
+
+    void Category::shutdownForced() {
+        HierarchyMaintainer::getDefaultMaintainer().shutdown();
+		Appender::_deleteAllAppenders();
+    }
+
+
+    Category::Category(const std::string& name, Category* parent, Priority::Value priority) : 
+        _name(name),
+        _parent(parent),
+        _priority(priority),
+        _isAdditive(true) {
+    }
+
+    Category::~Category() {
+        removeAllAppenders();
+    }
+
+    const std::string& Category::getName() const throw() {
+        return _name; 
+    }
+    
+    Priority::Value Category::getPriority() const throw() { 
+        return _priority; 
+    }
+
+    void Category::setPriority(Priority::Value priority) {
+        if ((priority < Priority::NOTSET) || (getParent() != NULL)) {
+            _priority = priority;
+        } else {
+            /* caller tried to set NOTSET priority to root Category. 
+               Bad caller!
+            */
+            throw std::invalid_argument("cannot set priority NOTSET on Root Category");
+        }
+    }
+    
+    Priority::Value Category::getChainedPriority() const throw() {
+        // REQUIRE(rootCategory->getPriority() != Priority::NOTSET)
+        
+        const Category* c = this;
+        while(c->getPriority() >= Priority::NOTSET) { 
+            c = c->getParent();
+        }
+        
+        return c->getPriority();
+    }
+    
+    void Category::addAppender(Appender* appender) {
+        if (appender) {
+            threading::ScopedLock lock(_appenderSetMutex);
+            {
+                AppenderSet::iterator i = _appender.find(appender);
+                if (_appender.end() == i) {
+                    // not found
+                    _appender.insert(appender);
+                    _ownsAppender[appender] = true;
+                }
+            }
+        } else {
+            throw std::invalid_argument("NULL appender");
+        }
+    }
+    
+    void Category::addAppender(Appender& appender) {
+        threading::ScopedLock lock(_appenderSetMutex);
+        {
+            AppenderSet::iterator i = _appender.find(&appender);
+            if (_appender.end() == i) {
+                _appender.insert(&appender);
+                _ownsAppender[&appender] = false;
+            }
+        }
+    }
+    
+    Appender* Category::getAppender() const {
+        threading::ScopedLock lock(_appenderSetMutex);
+        {
+            AppenderSet::const_iterator i = _appender.begin();
+            return (_appender.end() == i) ? NULL : *i;
+        }
+    }
+
+    Appender* Category::getAppender(const std::string& name) const {
+        threading::ScopedLock lock(_appenderSetMutex);
+        {
+            AppenderSet::const_iterator i = _appender.begin();
+            if (_appender.end() != i) {
+                // found
+                return((*i)->getAppender(name));
+            }
+            else {
+                return(NULL);
+            }
+        }
+    }
+
+    AppenderSet Category::getAllAppenders() const {
+        threading::ScopedLock lock(_appenderSetMutex);
+        {
+            return _appender;
+        }
+    }
+
+    void Category::removeAllAppenders() {
+        threading::ScopedLock lock(_appenderSetMutex);
+        {
+            for (AppenderSet::iterator i = _appender.begin();
+                 i != _appender.end(); i++) {
+                // found
+                OwnsAppenderMap::iterator i2;
+                if (ownsAppender(*i, i2)) {
+                    delete (*i);
+                }
+            }
+
+            _ownsAppender.clear();
+            _appender.clear();           
+        }
+    }
+
+    void Category::removeAppender(Appender* appender) {
+        threading::ScopedLock lock(_appenderSetMutex);
+        {
+            AppenderSet::iterator i = _appender.find(appender);
+            if (_appender.end() != i) {            
+                OwnsAppenderMap::iterator i2;
+                if (ownsAppender(*i, i2)) {
+                    _ownsAppender.erase(i2);
+                    delete (*i);
+                }
+                _appender.erase(i);
+            } else {
+                // appender not found 
+            }
+        }
+    }
+
+    bool Category::ownsAppender(Appender* appender) const throw() {
+        bool owned = false;
+
+        threading::ScopedLock lock(_appenderSetMutex);
+        {
+            if (NULL != appender) {            
+                OwnsAppenderMap::const_iterator i =
+                    _ownsAppender.find(appender);
+                if (_ownsAppender.end() != i) {
+                    owned = (*i).second;
+                }
+            }
+        }
+
+        return owned;
+    }
+
+    /* assume lock is held */
+    bool Category::ownsAppender(Appender* appender, 
+                                Category::OwnsAppenderMap::iterator& i2) throw() {
+        bool owned = false;
+
+        if (NULL != appender) {
+            OwnsAppenderMap::iterator i = _ownsAppender.find(appender);
+            if (_ownsAppender.end() != i) {
+                owned = (*i).second;
+                if (owned) {
+                    i2 = i;
+                }
+            }
+        }
+
+        return owned;
+    }
+
+    void Category::callAppenders(const LoggingEvent& event) throw() {
+        threading::ScopedLock lock(_appenderSetMutex);
+        {
+            if (!_appender.empty()) {
+                for(AppenderSet::const_iterator i = _appender.begin();
+                    i != _appender.end(); i++) {
+                    (*i)->doAppend(event);
+                }
+            }
+        }
+        if (getAdditivity() && (getParent() != NULL)) {
+            getParent()->callAppenders(event);
+        }
+    }
+
+    void Category::setAdditivity(bool additivity) {
+        _isAdditive = additivity;
+    }
+
+    bool Category::getAdditivity() const throw() {
+        return _isAdditive; 
+    }
+
+    Category* Category::getParent() throw() {
+        return _parent; 
+    }
+
+    const Category* Category::getParent() const throw() {
+        return _parent; 
+    }
+
+    void Category::_logUnconditionally(Priority::Value priority, 
+                                       const char* format, 
+                                       va_list arguments) throw() {
+        _logUnconditionally2(priority, StringUtil::vform(format, arguments));
+    }
+    
+    void Category::_logUnconditionally2(Priority::Value priority, 
+                                        const std::string& message) throw() {
+        LoggingEvent event(getName(), message, NDC::get(), priority);
+        callAppenders(event);
+    }
+    
+    bool Category::isPriorityEnabled(Priority::Value priority) const throw() {
+        return(getChainedPriority() >= priority);
+    }
+
+    void Category::log(Priority::Value priority, 
+                       const char* stringFormat, ...) throw() { 
+        if (isPriorityEnabled(priority)) {
+            va_list va;
+            va_start(va, stringFormat);
+            _logUnconditionally(priority, stringFormat, va);
+            va_end(va);
+        }
+    }
+
+    void Category::log(Priority::Value priority, 
+                       const std::string& message) throw() { 
+        if (isPriorityEnabled(priority))
+            _logUnconditionally2(priority, message);
+    }
+    
+    void Category::logva(Priority::Value priority, 
+                         const char* stringFormat,
+                         va_list va) throw() { 
+        if (isPriorityEnabled(priority)) {
+            _logUnconditionally(priority, stringFormat, va);
+        }
+    }
+
+    void Category::debug(const char* stringFormat, ...) throw() { 
+        if (isPriorityEnabled(Priority::DEBUG)) {
+            va_list va;
+            va_start(va,stringFormat);
+            _logUnconditionally(Priority::DEBUG, stringFormat, va);
+            va_end(va);
+        }
+    }
+    
+    void Category::debug(const std::string& message) throw() { 
+        if (isPriorityEnabled(Priority::DEBUG))
+            _logUnconditionally2(Priority::DEBUG, message);
+    }
+    
+    void Category::info(const char* stringFormat, ...) throw() { 
+        if (isPriorityEnabled(Priority::INFO)) {
+            va_list va;
+            va_start(va,stringFormat);
+            _logUnconditionally(Priority::INFO, stringFormat, va);
+            va_end(va);
+        }
+    }
+    
+    void Category::info(const std::string& message) throw() { 
+        if (isPriorityEnabled(Priority::INFO))
+            _logUnconditionally2(Priority::INFO, message);
+    }
+    
+    void Category::notice(const char* stringFormat, ...) throw() { 
+        if (isPriorityEnabled(Priority::NOTICE)) {
+            va_list va;
+            va_start(va,stringFormat);
+            _logUnconditionally(Priority::NOTICE, stringFormat, va);
+            va_end(va);
+        }
+    }
+    
+    void Category::notice(const std::string& message) throw() { 
+        if (isPriorityEnabled(Priority::NOTICE))
+            _logUnconditionally2(Priority::NOTICE, message);
+    }
+    
+    void Category::warn(const char* stringFormat, ...) throw() { 
+        if (isPriorityEnabled(Priority::WARN)) {
+            va_list va;
+            va_start(va,stringFormat);
+            _logUnconditionally(Priority::WARN, stringFormat, va);
+            va_end(va);
+        }
+    }
+    
+    void Category::warn(const std::string& message) throw() { 
+        if (isPriorityEnabled(Priority::WARN))
+            _logUnconditionally2(Priority::WARN, message);
+    }
+    
+    void Category::error(const char* stringFormat, ...) throw() { 
+        if (isPriorityEnabled(Priority::ERROR)) {
+            va_list va;
+            va_start(va,stringFormat);
+                       _logUnconditionally(Priority::ERROR, stringFormat, va);
+            va_end(va);
+        }
+    }
+    
+    void Category::error(const std::string& message) throw() { 
+        if (isPriorityEnabled(Priority::ERROR))
+            _logUnconditionally2(Priority::ERROR, message);
+    }
+
+    void Category::crit(const char* stringFormat, ...) throw() { 
+        if (isPriorityEnabled(Priority::CRIT)) {
+            va_list va;
+            va_start(va,stringFormat);
+            _logUnconditionally(Priority::CRIT, stringFormat, va);
+            va_end(va);
+        }
+    }
+    
+    void Category::crit(const std::string& message) throw() { 
+        if (isPriorityEnabled(Priority::CRIT))
+            _logUnconditionally2(Priority::CRIT, message);
+    }
+
+    void Category::alert(const char* stringFormat, ...) throw() { 
+        if (isPriorityEnabled(Priority::ALERT)) {
+            va_list va;
+            va_start(va,stringFormat);
+            _logUnconditionally(Priority::ALERT, stringFormat, va);
+            va_end(va);
+        }
+    }
+    
+    void Category::alert(const std::string& message) throw() { 
+        if (isPriorityEnabled(Priority::ALERT))
+            _logUnconditionally2(Priority::ALERT, message);
+    }
+
+    void Category::emerg(const char* stringFormat, ...) throw() { 
+        if (isPriorityEnabled(Priority::EMERG)) {
+            va_list va;
+            va_start(va,stringFormat);
+            _logUnconditionally(Priority::EMERG, stringFormat, va);
+            va_end(va);
+        }
+    }
+    
+    void Category::emerg(const std::string& message) throw() { 
+        if (isPriorityEnabled(Priority::EMERG))
+            _logUnconditionally2(Priority::EMERG, message);
+    }
+
+    void Category::fatal(const char* stringFormat, ...) throw() { 
+        if (isPriorityEnabled(Priority::FATAL)) {
+            va_list va;
+            va_start(va,stringFormat);
+            _logUnconditionally(Priority::FATAL, stringFormat, va);
+            va_end(va);
+        }
+    }
+    
+    void Category::fatal(const std::string& message) throw() { 
+        if (isPriorityEnabled(Priority::FATAL))
+            _logUnconditionally2(Priority::FATAL, message);
+    }
+
+    CategoryStream Category::getStream(Priority::Value priority) {
+        return CategoryStream(*this, isPriorityEnabled(priority) ?
+                              priority : Priority::NOTSET);
+    }
+
+    CategoryStream Category::operator<<(Priority::Value priority) {
+        return getStream(priority);
+    }
+} 
+
diff --git a/VrUtils/log4cpp/src/CategoryStream.cpp b/VrUtils/log4cpp/src/CategoryStream.cpp
new file mode 100644
index 0000000..41aa09e
--- /dev/null
+++ b/VrUtils/log4cpp/src/CategoryStream.cpp
@@ -0,0 +1,110 @@
+/*
+ * CategoryStream.cpp
+ *
+ * Copyright 2001, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2001, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include "PortabilityImpl.hh"
+
+#ifdef LOG4CPP_HAVE_UNISTD_H
+#    include 
+#endif
+
+#include 
+#include 
+
+namespace log4cpp {
+
+    CategoryStream::CategoryStream(Category& category, Priority::Value priority) :
+        _category(category),
+        _priority(priority),
+        _buffer(NULL) {
+    }
+
+    CategoryStream::~CategoryStream() { 
+        flush();
+    }
+
+    void CategoryStream::flush() {
+        if (_buffer) {
+            getCategory().log(getPriority(), _buffer->str());
+            delete _buffer;
+            _buffer = NULL;
+        }
+    }
+    
+    CategoryStream& CategoryStream::operator<<(const char* t)
+    {
+       if (getPriority() != Priority::NOTSET) {
+          if (!_buffer) {
+             if (!(_buffer = new std::ostringstream)) {
+                // XXX help help help
+             }
+          }
+          (*_buffer) << t;
+       }
+       return *this;
+    }
+
+    std::streamsize CategoryStream::width(std::streamsize wide ) {
+        if (getPriority() != Priority::NOTSET) {
+            if (!_buffer) {
+                if (!(_buffer = new std::ostringstream)) {
+                    // XXX help help help
+                }
+            }
+        }
+        return _buffer->width(wide); 
+    }
+    CategoryStream& CategoryStream::operator<< (cspf pf) {
+		return (*pf)(*this);
+    }
+    CategoryStream& eol (CategoryStream& os) {
+        if  (os._buffer) {
+		os.flush();
+        }
+        return os;
+    }
+    CategoryStream& left (CategoryStream& os) {
+        if  (os._buffer) {
+            os._buffer->setf(std::ios::left);
+        }
+        return os;
+    }
+}
+
+// MSVC6 bug in member templates instantiation
+#if defined(_MSC_VER) && _MSC_VER < 1300
+namespace
+{
+   struct dummy
+   {
+      void instantiate()
+      {
+         using namespace log4cpp;
+
+         CategoryStream t(Category::getInstance(""), Priority::DEBUG);
+         t << static_cast("")
+           << Priority::DEBUG
+           << static_cast(0)
+           << static_cast(0)
+           << static_cast(0)
+           << static_cast(0)
+           << static_cast(0)
+           << static_cast(0) 
+           << static_cast(0)
+           << static_cast(0)
+           << static_cast(0)
+           << static_cast(0.0)
+           << static_cast(0.0)
+#if LOG4CPP_HAS_WCHAR_T != 0
+           << std::wstring()
+#endif
+           << std::string(); 
+      }
+   };
+}
+#endif
diff --git a/VrUtils/log4cpp/src/Configurator.cpp b/VrUtils/log4cpp/src/Configurator.cpp
new file mode 100644
index 0000000..77f42ca
--- /dev/null
+++ b/VrUtils/log4cpp/src/Configurator.cpp
@@ -0,0 +1,20 @@
+/*
+ * Configurator.cpp
+ *
+ * Copyright 2001, Glen Scott. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+#include "PortabilityImpl.hh"
+#include 
+
+namespace log4cpp {
+
+    ConfigureFailure::ConfigureFailure(const std::string& reason) :
+        std::runtime_error(reason) {
+    }
+}
+
+
+
+
diff --git a/VrUtils/log4cpp/src/DailyRollingFileAppender.cpp b/VrUtils/log4cpp/src/DailyRollingFileAppender.cpp
new file mode 100644
index 0000000..64f5374
--- /dev/null
+++ b/VrUtils/log4cpp/src/DailyRollingFileAppender.cpp
@@ -0,0 +1,186 @@
+/*
+ * DailyRollingFileAppender.cpp
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include "PortabilityImpl.hh"
+#ifdef LOG4CPP_HAVE_IO_H
+#    include 
+#endif
+#ifdef LOG4CPP_HAVE_UNISTD_H
+#    include 
+#endif
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#ifdef LOG4CPP_HAVE_SSTREAM
+#include 
+#include 
+#endif
+
+#ifndef WIN32    // only available on Win32
+#include 
+#endif
+
+namespace log4cpp {
+
+	unsigned int DailyRollingFileAppender::maxDaysToKeepDefault = 30;
+
+    DailyRollingFileAppender::DailyRollingFileAppender(const std::string& name,
+                                             const std::string& fileName, 
+                                             unsigned int maxDaysToKeep,
+                                             bool append,
+                                             mode_t mode) :
+        FileAppender(name, fileName, append, mode),
+        _maxDaysToKeep(maxDaysToKeep != 0 ? maxDaysToKeep : maxDaysToKeepDefault) {
+		struct stat statBuf;
+		int res;
+		time_t t;
+
+		// obtain last modification time
+		res = ::stat(fileName.c_str(), &statBuf);
+		if (res < 0) {
+			t = time(NULL);
+		} else {
+			t = statBuf.st_mtime;
+		}
+#ifndef WIN32    // only available on Win32
+		localtime_r(&t, &_logsTime);
+#else
+		localtime_s(&_logsTime, &t);
+#endif
+	}
+
+	void DailyRollingFileAppender::setMaxDaysToKeep(unsigned int maxDaysToKeep) {
+		_maxDaysToKeep = maxDaysToKeep;
+	}
+
+	unsigned int DailyRollingFileAppender::getMaxDaysToKeep() const {
+		return _maxDaysToKeep;
+	}
+
+	void DailyRollingFileAppender::rollOver()
+	{
+		std::ostringstream filename_s;
+		int res_close = ::close(_fd);
+		if (res_close != 0) {
+			std::cerr << "Error closing file " << _fileName << std::endl;
+		}
+		filename_s << _fileName << "." << _logsTime.tm_year + 1900 << "-"
+						<< std::setfill('0') << std::setw(2) << _logsTime.tm_mon + 1 << "-"
+						<< std::setw(2) << _logsTime.tm_mday << std::ends;
+		const std::string lastFn = filename_s.str();
+		int res_rename = ::rename(_fileName.c_str(), lastFn.c_str());
+		if (res_rename != 0) {
+			std::cerr << "Error renaming file " << _fileName << " to " << lastFn << std::endl;
+		}
+
+		_fd = ::open(_fileName.c_str(), _flags, _mode);
+		if (_fd == -1) {
+			std::cerr << "Error opening file " << _fileName << std::endl;
+		}
+
+		const time_t oldest = time(NULL) - _maxDaysToKeep * 60 * 60 * 24;
+
+#ifndef WIN32 
+#define PATHDELIMITER "/" 
+#else 
+#define PATHDELIMITER "\\"
+#endif
+		// iterate over files around log file and delete older with same prefix
+		const std::string::size_type last_delimiter = _fileName.rfind(PATHDELIMITER);
+		const std::string dirname((last_delimiter == std::string::npos)? "." : _fileName.substr(0, last_delimiter));
+		const std::string filname((last_delimiter == std::string::npos)? _fileName : _fileName.substr(last_delimiter+1, _fileName.size()-last_delimiter-1));
+#ifndef WIN32    // only available on Win32
+		struct dirent **entries;
+		int nentries = scandir(dirname.c_str(), &entries, 0, alphasort);
+		if (nentries < 0)
+			return;
+		for (int i = 0; i < nentries; i++) {
+			struct stat statBuf;
+			const std::string fullfilename = dirname + PATHDELIMITER + entries[i]->d_name;
+			int res = ::stat(fullfilename.c_str(), &statBuf);
+			if ((res == -1) || (!S_ISREG(statBuf.st_mode))) {
+				free(entries[i]);
+				continue;
+			}
+			if (statBuf.st_mtime < oldest && strstr(entries[i]->d_name, filname.c_str())) {
+				std::cout << " Deleting " << fullfilename.c_str() << std::endl;
+				::unlink(fullfilename.c_str());
+			}
+			free(entries[i]);
+		}
+		free(entries);
+#else
+    HANDLE hFind = INVALID_HANDLE_VALUE;
+    WIN32_FIND_DATA ffd;
+	const std::string pattern = _fileName + "*";
+#ifdef __WIN_ROS__
+	hFind = FindFirstFile((LPCSTR)pattern.c_str(), &ffd);
+#else
+    hFind = FindFirstFile((LPCWSTR)pattern.c_str(), &ffd);
+#endif
+    if (hFind != INVALID_HANDLE_VALUE) {
+        do {
+			struct stat statBuf;
+			const std::string fullfilename = dirname + PATHDELIMITER + std::string((char*)ffd.cFileName);
+			int res = ::stat(fullfilename.c_str(), &statBuf);
+            if (res != -1 && statBuf.st_mtime < oldest && !(ffd.dwFileAttributes & FILE_ATTRIBUTE_DIRECTORY)) {
+                std::cout << "Deleting " << fullfilename << "\n";
+				::unlink(fullfilename.c_str());
+            }
+        } while (FindNextFile(hFind, &ffd) != 0);
+
+        if (GetLastError() != ERROR_NO_MORE_FILES) {
+			// [XXX] some kind of error happened
+        }
+		FindClose(hFind);
+		hFind = INVALID_HANDLE_VALUE;
+	}
+#endif
+	}
+
+	void DailyRollingFileAppender::_append(const log4cpp::LoggingEvent &event)
+	{
+		struct tm now;
+		time_t t = time(NULL);
+
+#ifndef WIN32    // only available on Win32
+		bool timeok = localtime_r(&t, &now) != NULL;
+#else
+		bool timeok = localtime_s(&now, &t) == 0;
+#endif
+		if (timeok) {
+			if ((now.tm_mday != _logsTime.tm_mday) ||
+				(now.tm_mon != _logsTime.tm_mon) ||
+				(now.tm_year != _logsTime.tm_year)) {
+				rollOver();
+				_logsTime = now;
+			}
+		}
+		log4cpp::FileAppender::_append(event);
+	}
+
+   std::auto_ptr create_daily_roll_file_appender(const FactoryParams& params)
+   {
+      std::string name, filename;
+      bool append = true;
+      mode_t mode = 664;
+      unsigned int max_days_keep = 0;
+      params.get_for("daily roll file appender").required("name", name)("filename", filename)("max_days_keep", max_days_keep)
+                                          .optional("append", append)("mode", mode);
+
+      return std::auto_ptr(new DailyRollingFileAppender(name, filename, max_days_keep, append, mode));
+   }
+}
diff --git a/VrUtils/log4cpp/src/DllMain.cpp b/VrUtils/log4cpp/src/DllMain.cpp
new file mode 100644
index 0000000..0cae2b9
--- /dev/null
+++ b/VrUtils/log4cpp/src/DllMain.cpp
@@ -0,0 +1,31 @@
+/*
+ * DllMain.cpp
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifdef LOG4CPP_SUPPLY_DLLMAIN
+
+#define WIN32_LEAN_AND_MEAN  // Exclude rarely-used stuff from Windows headers
+#include 
+
+BOOL APIENTRY DllMain( HANDLE hModule, 
+                       DWORD  ul_reason_for_call, 
+                       LPVOID lpReserved
+                     )
+{
+    switch (ul_reason_for_call)
+    {
+        case DLL_PROCESS_ATTACH:
+        case DLL_THREAD_ATTACH:
+        case DLL_THREAD_DETACH:
+        case DLL_PROCESS_DETACH:
+            break;
+    }
+    return TRUE;
+}
+
+#endif // LOG4CPP_NEED_DLLMAIN
diff --git a/VrUtils/log4cpp/src/DummyThreads.cpp b/VrUtils/log4cpp/src/DummyThreads.cpp
new file mode 100644
index 0000000..ffe16bf
--- /dev/null
+++ b/VrUtils/log4cpp/src/DummyThreads.cpp
@@ -0,0 +1,22 @@
+/*
+ * Copyright 2002, Log4cpp Project. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include 
+
+#ifndef LOG4CPP_HAVE_THREADING
+
+namespace log4cpp {
+    namespace threading {
+
+        std::string getThreadId() {
+            // more useful would be to return the PID.
+            return std::string("thread1");
+        }
+
+    }
+}
+
+#endif // LOG4CPP_HAVE_THREADING
diff --git a/VrUtils/log4cpp/src/FactoryParams.cpp b/VrUtils/log4cpp/src/FactoryParams.cpp
new file mode 100644
index 0000000..cc648f9
--- /dev/null
+++ b/VrUtils/log4cpp/src/FactoryParams.cpp
@@ -0,0 +1,26 @@
+/*
+ * Copyright 2002, Log4cpp Project. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include 
+#include 
+
+namespace log4cpp
+{
+   const std::string& FactoryParams::operator[](const std::string& v) const
+   {
+      const_iterator i = storage_.find(v);
+      if (i != storage_.end())
+         return i->second;
+
+      throw std::invalid_argument("There is no parameter '" + v + "'");
+   }
+   
+   FactoryParams::const_iterator FactoryParams::find(const std::string& v) const
+   {
+      return storage_.find(v);
+   }
+}
+
diff --git a/VrUtils/log4cpp/src/FileAppender.cpp b/VrUtils/log4cpp/src/FileAppender.cpp
new file mode 100644
index 0000000..a2731f2
--- /dev/null
+++ b/VrUtils/log4cpp/src/FileAppender.cpp
@@ -0,0 +1,113 @@
+/*
+ * FileAppender.cpp
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include "PortabilityImpl.hh"
+#ifdef LOG4CPP_HAVE_IO_H
+#    include 
+#endif
+#ifdef LOG4CPP_HAVE_UNISTD_H
+#    include 
+#endif
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+
+    FileAppender::FileAppender(const std::string& name, 
+                               const std::string& fileName,
+                               bool append,
+                               mode_t mode) : 
+            LayoutAppender(name),
+            _fileName(fileName),
+            _flags(O_CREAT | O_APPEND | O_WRONLY),
+            _mode(mode) {
+        if (!append)
+            _flags |= O_TRUNC;
+        _fd = ::open(_fileName.c_str(), _flags, _mode);
+    }
+    
+    FileAppender::FileAppender(const std::string& name, int fd) :
+        LayoutAppender(name),
+        _fileName(""),
+        _fd(fd),
+        _flags(O_CREAT | O_APPEND | O_WRONLY),
+        _mode(00644) {
+    }
+    
+    FileAppender::~FileAppender() {
+        close();
+    }
+
+    void FileAppender::close() {
+        if (_fd!=-1) {
+            ::close(_fd);
+            _fd=-1;
+        }
+    }
+
+    void FileAppender::setAppend(bool append) {
+        if (append) {
+            _flags &= ~O_TRUNC;
+        } else {
+            _flags |= O_TRUNC;
+        }
+    }
+
+    bool FileAppender::getAppend() const {
+        return (_flags & O_TRUNC) == 0;
+    }
+
+    void FileAppender::setMode(mode_t mode) {
+        _mode = mode;
+    }
+
+    mode_t FileAppender::getMode() const {
+        return _mode;
+    }
+
+    void FileAppender::_append(const LoggingEvent& event) {
+        std::string message(_getLayout().format(event));
+        if (_fd == -1 || !::write(_fd, message.data(), message.length())) {
+            // XXX help! help!
+        }
+    }
+
+    bool FileAppender::reopen() {
+        if (_fileName != "") {
+            int fd = ::open(_fileName.c_str(), _flags, _mode);
+            if (fd < 0)
+                return false;
+            else {
+	        if (_fd != -1)
+                    ::close(_fd);
+                _fd = fd;
+                return true;
+            }
+        } else {
+            return true;
+        }      
+    }
+
+   std::auto_ptr create_file_appender(const FactoryParams& params)
+   {
+      std::string name, filename;
+      bool append = true;
+      mode_t mode = 664;
+
+      params.get_for("file appender").required("name", name)("filename", filename)
+                                     .optional("append", append)("mode", mode);
+
+      return std::auto_ptr(new FileAppender(name, filename, append, mode));
+   }
+}
diff --git a/VrUtils/log4cpp/src/Filter.cpp b/VrUtils/log4cpp/src/Filter.cpp
new file mode 100644
index 0000000..fb13219
--- /dev/null
+++ b/VrUtils/log4cpp/src/Filter.cpp
@@ -0,0 +1,60 @@
+/*
+ * Filter.cpp
+ *
+ * Copyright 2001, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2001, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include "PortabilityImpl.hh"
+#include 
+
+namespace log4cpp {
+
+    Filter::Filter() :
+        _chainedFilter(NULL) {
+    }
+
+    Filter::~Filter() {
+        if (_chainedFilter)
+            delete _chainedFilter;
+    }
+
+    void Filter::setChainedFilter(Filter* filter) {
+        if (filter != _chainedFilter) {
+            if (_chainedFilter)
+                delete _chainedFilter;
+            
+            _chainedFilter = filter;
+        }
+    }
+
+    Filter* Filter::getChainedFilter() {
+        return _chainedFilter;
+    }
+
+    Filter* Filter::getEndOfChain() {
+        Filter* end = this;
+        while(end->getChainedFilter()) {
+            end = end->getChainedFilter();
+        }
+	return end;
+    }
+
+    void Filter::appendChainedFilter(Filter* filter) {
+        Filter* end = getEndOfChain();
+        end->setChainedFilter(filter);
+    }
+
+    Filter::Decision Filter::decide(const LoggingEvent& event) {
+        Filter::Decision decision = _decide(event);
+
+        if ((Filter::NEUTRAL == decision) && getChainedFilter()) {
+            decision = getChainedFilter()->decide(event);
+        }
+
+        return decision;
+    }
+    
+}
diff --git a/VrUtils/log4cpp/src/FixedContextCategory.cpp b/VrUtils/log4cpp/src/FixedContextCategory.cpp
new file mode 100644
index 0000000..ef0f03a
--- /dev/null
+++ b/VrUtils/log4cpp/src/FixedContextCategory.cpp
@@ -0,0 +1,100 @@
+/*
+ * FixedContextCategory.cpp
+ *
+ * Copyright 2001, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2001, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include "PortabilityImpl.hh"
+#include 
+
+namespace log4cpp {
+
+    FixedContextCategory::FixedContextCategory(const std::string& name,
+                                               const std::string& context) : 
+        Category(name, Category::getInstance(name).getParent()),
+        _delegate(Category::getInstance(name)),
+        _context(context) {
+    }
+
+    FixedContextCategory::~FixedContextCategory() {
+    }
+
+    void FixedContextCategory::setContext(const std::string& context) {
+        _context = context;
+    }
+
+    std::string FixedContextCategory::getContext() const {
+        return _context;
+    }
+
+    Priority::Value FixedContextCategory::getPriority() const throw() {
+        return Category::getPriority();
+    }
+   
+    Priority::Value FixedContextCategory::getChainedPriority() const throw() {
+        Priority::Value result = getPriority();
+
+        if (result == Priority::NOTSET) {
+            result = _delegate.getChainedPriority();
+        }
+
+        return result;
+    }
+    
+    void FixedContextCategory::addAppender(Appender* appender) throw() {
+        // XXX do nothing for now
+    }
+    
+    void FixedContextCategory::addAppender(Appender& appender) {
+        // XXX do nothing for now
+    }
+    
+    Appender* FixedContextCategory::getAppender() const {
+        return _delegate.getAppender();
+    }
+    
+    Appender* FixedContextCategory::getAppender(const std::string& name)
+    const {
+        return _delegate.getAppender(name);
+    }
+
+    AppenderSet FixedContextCategory::getAllAppenders() const {
+        return _delegate.getAllAppenders();
+    }
+
+    void FixedContextCategory::removeAllAppenders() {
+        // XXX do nothing for now
+    }
+
+    bool FixedContextCategory::ownsAppender() const throw() {
+        return false;
+    }
+    
+    bool FixedContextCategory::ownsAppender(Appender* appender) const throw() {
+        return false;
+    }
+    
+    void FixedContextCategory::callAppenders(const LoggingEvent& event)
+            throw() {
+        _delegate.callAppenders(event);
+    }
+
+    void FixedContextCategory::setAdditivity(bool additivity) {
+        // XXX do nothing for now
+    }
+
+    bool FixedContextCategory::getAdditivity() const throw() {
+        return _delegate.getAdditivity();
+    }
+
+    void FixedContextCategory::_logUnconditionally2(Priority::Value priority,
+            const std::string& message) throw() {
+        LoggingEvent event(getName(), message, _context, priority);
+        callAppenders(event);
+    }
+    
+} 
+
diff --git a/VrUtils/log4cpp/src/HierarchyMaintainer.cpp b/VrUtils/log4cpp/src/HierarchyMaintainer.cpp
new file mode 100644
index 0000000..283980b
--- /dev/null
+++ b/VrUtils/log4cpp/src/HierarchyMaintainer.cpp
@@ -0,0 +1,132 @@
+/*
+ * HierarchyMaintainer.cpp
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include "PortabilityImpl.hh"
+
+#ifdef LOG4CPP_HAVE_IO_H
+#    include 
+#endif
+#ifdef LOG4CPP_HAVE_UNISTD_H
+#    include 
+#endif
+
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+
+    HierarchyMaintainer& HierarchyMaintainer::getDefaultMaintainer() {
+        static HierarchyMaintainer defaultMaintainer;
+
+        return defaultMaintainer;
+    }
+
+    HierarchyMaintainer::HierarchyMaintainer() {
+    }
+
+    HierarchyMaintainer::~HierarchyMaintainer() {
+        shutdown();
+        deleteAllCategories();
+    }
+
+    Category* HierarchyMaintainer::getExistingInstance(const std::string& name) {
+        threading::ScopedLock lock(_categoryMutex);
+        return _getExistingInstance(name);
+    }
+
+    Category* HierarchyMaintainer::_getExistingInstance(const std::string& name) {
+	Category* result = NULL;
+
+        CategoryMap::iterator i = _categoryMap.find(name);
+        if (_categoryMap.end() != i) {
+            result = (*i).second;
+        }
+
+	return result;
+    }
+
+    Category& HierarchyMaintainer::getInstance(const std::string& name) {
+        threading::ScopedLock lock(_categoryMutex);
+        return _getInstance(name);
+    }
+
+    /* assume lock is held */
+    Category& HierarchyMaintainer::_getInstance(const std::string& name) {
+        Category* result;
+        result = _getExistingInstance(name);
+        
+        if (NULL == result) {            
+            if (name == "") {
+                result = new Category(name, NULL, Priority::INFO);
+            } else {
+                std::string parentName;
+                size_t dotIndex = name.find_last_of('.');
+                if (name.length() <= dotIndex) {
+                    parentName = "";
+                } else {
+                    parentName = name.substr(0, dotIndex);
+                }
+                Category& parent = _getInstance(parentName);
+                result = new Category(name, &parent, Priority::NOTSET);
+            }	  
+            _categoryMap[name] = result; 
+        }
+        return *result;
+    }
+
+    std::vector* HierarchyMaintainer::getCurrentCategories() const {
+        std::vector* categories = new std::vector;
+
+        threading::ScopedLock lock(_categoryMutex);
+        {
+            for(CategoryMap::const_iterator i = _categoryMap.begin(); i != _categoryMap.end(); i++) {
+                categories->push_back((*i).second);
+            }
+        }
+
+        return categories;
+    }
+
+    void HierarchyMaintainer::shutdown() {
+        threading::ScopedLock lock(_categoryMutex);
+        {
+            for(CategoryMap::const_iterator i = _categoryMap.begin(); i != _categoryMap.end(); i++) {
+                ((*i).second)->removeAllAppenders();
+            }
+        }
+        
+        try
+        {
+           for(handlers_t::const_iterator i = handlers_.begin(), last = handlers_.end(); i != last; ++i)
+              (**i)();
+        }
+        catch(...)
+        {
+        }
+        
+    }
+
+    void HierarchyMaintainer::register_shutdown_handler(shutdown_fun_ptr handler)
+    {
+        handlers_.push_back(handler); 
+    }
+
+    void HierarchyMaintainer::deleteAllCategories() {
+        threading::ScopedLock lock(_categoryMutex);
+        {
+            for(CategoryMap::const_iterator i = _categoryMap.begin(); i != _categoryMap.end(); i++) {
+                delete ((*i).second);
+            }
+			_categoryMap.clear();
+        }
+    }
+
+
+}
diff --git a/VrUtils/log4cpp/src/IdsaAppender.cpp b/VrUtils/log4cpp/src/IdsaAppender.cpp
new file mode 100644
index 0000000..75aa762
--- /dev/null
+++ b/VrUtils/log4cpp/src/IdsaAppender.cpp
@@ -0,0 +1,89 @@
+/*
+ * IdsaAppender.cpp
+ *
+ * Copyright 2000, Marc Welz
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include "PortabilityImpl.hh"
+
+#ifdef LOG4CPP_HAVE_LIBIDSA
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+
+    IdsaAppender::IdsaAppender(const std::string& name, 
+                               const std::string& idsaName) :
+        AppenderSkeleton(name),
+        _idsaName(idsaName)
+    {
+        _idsaConnection=NULL;
+        open();
+    }
+    
+    IdsaAppender::~IdsaAppender() {
+        close();
+    }
+
+    void IdsaAppender::open() {
+        _idsaConnection=idsa_open((char *)_idsaName.c_str(), NULL,
+                                  IDSA_F_FAILOPEN);
+    }
+
+    void IdsaAppender::close() {
+        idsa_close(_idsaConnection);
+        _idsaConnection=NULL;
+    }
+
+    void IdsaAppender::_append(const LoggingEvent& event) {
+        IDSA_EVENT *idsaEvent;
+        
+        idsaEvent = idsa_event(_idsaConnection);
+        
+        if (idsaEvent){
+            
+            idsa_name(idsaEvent,(char *)event.categoryName.c_str());
+            idsa_scheme(idsaEvent,"log4cpp");
+            
+            idsa_add_integer(idsaEvent, "priority", event.priority);
+            idsa_add_string(idsaEvent, "ndc", (char *)event.ndc.c_str());
+            idsa_add_string(idsaEvent, "message", 
+                            (char*)event.message.c_str());
+            
+            idsa_log(_idsaConnection,idsaEvent);
+            // idsa_log does its own deallocation */
+        }
+    }
+
+    bool IdsaAppender::reopen() {
+        close();
+        open();
+        return true;
+    }      
+
+    bool IdsaAppender::requiresLayout() const {
+        return false;
+    }
+
+    void IdsaAppender::setLayout(Layout* layout) {
+        return;
+    }
+
+    std::auto_ptr create_idsa_appender(const FactoryParams& params)
+    {
+       std::string name, idsa_name;
+       params.get_for("idsa appender").required("name", name)("idsa_name", idsa_name);
+
+       return std::auto_ptr(new IdsaAppender(name, idsa_name));
+    }
+}
+
+#endif // LOG4CPP_HAVE_LIBIDSA
diff --git a/VrUtils/log4cpp/src/LayoutAppender.cpp b/VrUtils/log4cpp/src/LayoutAppender.cpp
new file mode 100644
index 0000000..5d2f3ba
--- /dev/null
+++ b/VrUtils/log4cpp/src/LayoutAppender.cpp
@@ -0,0 +1,39 @@
+/*
+ * LayoutAppender.cpp
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include "PortabilityImpl.hh"
+#include 
+
+namespace log4cpp {
+
+    LayoutAppender::LayoutAppender(const std::string& name) : 
+            AppenderSkeleton(name),
+            _layout(new DefaultLayoutType()) {
+    }
+    
+    LayoutAppender::~LayoutAppender() {
+        delete _layout;
+    }
+
+    bool LayoutAppender::requiresLayout() const {
+        return true;
+    }
+
+    void LayoutAppender::setLayout(Layout* layout) {
+       if (layout != _layout) {
+	  Layout *oldLayout = _layout;
+	  _layout = (layout == NULL) ? new DefaultLayoutType() : layout;
+	  delete oldLayout;
+       }
+    }
+
+    Layout& LayoutAppender::_getLayout() {
+        return *_layout;
+    }
+}
diff --git a/VrUtils/log4cpp/src/LayoutsFactory.cpp b/VrUtils/log4cpp/src/LayoutsFactory.cpp
new file mode 100644
index 0000000..232fa16
--- /dev/null
+++ b/VrUtils/log4cpp/src/LayoutsFactory.cpp
@@ -0,0 +1,57 @@
+/*
+ * Copyright 2002, Log4cpp Project. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include 
+#include 
+
+namespace log4cpp
+{
+   static LayoutsFactory* layouts_factory_ = 0;\
+
+   std::auto_ptr create_simple_layout(const FactoryParams& params);
+   std::auto_ptr create_basic_layout(const FactoryParams& params);
+   std::auto_ptr create_pattern_layout(const FactoryParams& params);
+   std::auto_ptr create_pattern_layout(const FactoryParams& params);
+   std::auto_ptr create_pass_through_layout(const FactoryParams& params);
+
+   LayoutsFactory& LayoutsFactory::getInstance()
+   {
+      if (!layouts_factory_)
+      {
+         std::auto_ptr lf(new LayoutsFactory);
+         lf->registerCreator("simple", &create_simple_layout);
+         lf->registerCreator("basic", &create_basic_layout);
+         lf->registerCreator("pattern", &create_pattern_layout);
+         lf->registerCreator("pass through", &create_pass_through_layout);
+         layouts_factory_ = lf.release();
+      }
+
+      return *layouts_factory_;
+   }
+
+   void LayoutsFactory::registerCreator(const std::string& class_name, create_function_t create_function)
+   {
+      const_iterator i = creators_.find(class_name);
+      if (i != creators_.end())
+         throw std::invalid_argument("Layout creator for type name '" + class_name + "' allready registered");
+
+      creators_[class_name] = create_function;
+   }
+
+   std::auto_ptr LayoutsFactory::create(const std::string& class_name, const params_t& params)
+   {
+      const_iterator i = creators_.find(class_name);
+      if (i == creators_.end())
+         throw std::invalid_argument("There is no layout with type name '" + class_name + "'");
+
+      return (*i->second)(params);
+   }
+
+   bool LayoutsFactory::registed(const std::string& class_name) const
+   {
+      return creators_.find(class_name) != creators_.end();
+   }
+}
diff --git a/VrUtils/log4cpp/src/LevelEvaluator.cpp b/VrUtils/log4cpp/src/LevelEvaluator.cpp
new file mode 100644
index 0000000..bc030e3
--- /dev/null
+++ b/VrUtils/log4cpp/src/LevelEvaluator.cpp
@@ -0,0 +1,21 @@
+/*
+ * Copyright 2002, Log4cpp Project. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include 
+#include 
+#include 
+
+namespace log4cpp
+{
+   std::auto_ptr create_level_evaluator(const FactoryParams& params)
+   {
+      std::string level;
+      params.get_for("level evaluator").required("level", level);
+
+      return std::auto_ptr(new LevelEvaluator(Priority::getPriorityValue(level)));
+   }
+}
+
diff --git a/VrUtils/log4cpp/src/Localtime.cpp b/VrUtils/log4cpp/src/Localtime.cpp
new file mode 100644
index 0000000..64beecd
--- /dev/null
+++ b/VrUtils/log4cpp/src/Localtime.cpp
@@ -0,0 +1,37 @@
+/*
+ * Copyright 2002, Log4cpp Project. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include 
+#include "Localtime.hh"
+#include 
+#include 
+
+namespace log4cpp         
+{
+
+#if defined(_MSC_VER) && defined(LOG4CPP_HAVE_LOCALTIME_R)
+   void localtime(const ::time_t* time, ::tm* t)
+   {
+      localtime_s(t, time);  
+   }
+#endif
+
+#if !defined(_MSC_VER) && defined(LOG4CPP_HAVE_LOCALTIME_R)
+   void localtime(const ::time_t* time, ::tm* t)
+   {
+      localtime_r(time, t);
+   }
+#endif
+
+#if !defined(LOG4CPP_HAVE_LOCALTIME_R)
+   void localtime(const ::time_t* time, ::tm* t)
+   {
+      ::tm* tmp = ::localtime(time);
+      memcpy(t, tmp, sizeof(::tm));
+   }
+#endif
+
+}
diff --git a/VrUtils/log4cpp/src/Localtime.hh b/VrUtils/log4cpp/src/Localtime.hh
new file mode 100644
index 0000000..9318456
--- /dev/null
+++ b/VrUtils/log4cpp/src/Localtime.hh
@@ -0,0 +1,17 @@
+/*
+ * Copyright 2002, Log4cpp Project. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_LOCALTIME_HH
+#define _LOG4CPP_LOCALTIME_HH
+
+#include 
+
+namespace log4cpp
+{
+   void localtime(const ::time_t* time, ::tm* t);
+}
+
+#endif
diff --git a/VrUtils/log4cpp/src/LoggingEvent.cpp b/VrUtils/log4cpp/src/LoggingEvent.cpp
new file mode 100644
index 0000000..ba285fc
--- /dev/null
+++ b/VrUtils/log4cpp/src/LoggingEvent.cpp
@@ -0,0 +1,26 @@
+/*
+ * LoggingEvent.cpp
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include "PortabilityImpl.hh"
+#include 
+#include 
+
+namespace log4cpp {
+    
+    LoggingEvent::LoggingEvent(const std::string& categoryName, 
+                               const std::string& message,
+                               const std::string& ndc, 
+                               Priority::Value priority) :
+        categoryName(categoryName),
+        message(message),
+        ndc(ndc),
+        priority(priority),
+        threadName(threading::getThreadId()) {
+    }
+}
diff --git a/VrUtils/log4cpp/src/MSThreads.cpp b/VrUtils/log4cpp/src/MSThreads.cpp
new file mode 100644
index 0000000..17a4449
--- /dev/null
+++ b/VrUtils/log4cpp/src/MSThreads.cpp
@@ -0,0 +1,23 @@
+/*
+ * Copyright 2002, Log4cpp Project. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include 
+#include 
+
+#if defined(LOG4CPP_HAVE_THREADING) && defined(LOG4CPP_USE_MSTHREADS)
+
+namespace log4cpp {
+    namespace threading {
+
+        std::string getThreadId() {
+            char buffer[16];
+            sprintf(buffer, "%lu", GetCurrentThreadId());
+            return std::string(buffer);
+        };
+    }
+}
+
+#endif // LOG4CPP_HAVE_THREADING && LOG4CPP_USE_MSTHREADS
diff --git a/VrUtils/log4cpp/src/Manipulator.cpp b/VrUtils/log4cpp/src/Manipulator.cpp
new file mode 100644
index 0000000..e3e730f
--- /dev/null
+++ b/VrUtils/log4cpp/src/Manipulator.cpp
@@ -0,0 +1,22 @@
+/*
+ * Copyright 2002, Log4cpp Project. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include 
+using namespace std;
+namespace log4cpp {
+	ostream& operator<< (ostream& os, const width& w) {
+		if  (os.good()) {
+			os.width(w.size);
+		}
+		return os;
+	}
+	ostream& operator<< (ostream& os, const tab& t) {
+		if  (os.good()) {
+			for(size_t no = 0; no < t.size; no++) os.put(os.widen('\t'));
+		}
+		return os;
+	}
+};
diff --git a/VrUtils/log4cpp/src/NDC.cpp b/VrUtils/log4cpp/src/NDC.cpp
new file mode 100644
index 0000000..be824c1
--- /dev/null
+++ b/VrUtils/log4cpp/src/NDC.cpp
@@ -0,0 +1,128 @@
+/*
+ * NDC.cpp
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include "PortabilityImpl.hh"
+#include 
+#include 
+
+namespace log4cpp {
+
+    NDC::DiagnosticContext::DiagnosticContext(const std::string& message) :
+        message(message),
+        fullMessage(message) {
+    }
+
+    NDC::DiagnosticContext::DiagnosticContext(const std::string& message, 
+            const DiagnosticContext& parent) :
+        message(message),
+        fullMessage(parent.fullMessage + " " + message) {
+    }
+
+	bool NDC::isUsedNDC = false;
+	const std::string NDC::emptyString = "";
+
+	namespace {
+        threading::ThreadLocalDataHolder _nDC;
+    }
+
+    void NDC::clear() {
+        getNDC()._clear();
+    }
+
+    NDC::ContextStack* NDC::cloneStack() {
+        return getNDC()._cloneStack();
+    }
+
+    const std::string& NDC::get() {
+    	if (isUsedNDC)
+    		return getNDC()._get();
+    	else
+    		return emptyString;
+    }
+
+    size_t NDC::getDepth() {
+        return getNDC()._getDepth();
+    }
+
+    void NDC::inherit(NDC::ContextStack* stack) {
+        getNDC()._inherit(stack);
+    }
+
+    std::string NDC::pop() {
+        return getNDC()._pop();
+    }
+
+    void NDC::push(const std::string& message) {
+    	if (!isUsedNDC)
+    		isUsedNDC = true;
+        getNDC()._push(message);
+    }
+
+    void NDC::setMaxDepth(int maxDepth) {
+        getNDC()._setMaxDepth(maxDepth);
+    }
+
+    NDC& NDC::getNDC() {
+        NDC* nDC = _nDC.get();
+
+        if (!nDC) {
+            nDC = new NDC();
+            _nDC.reset(nDC);
+        }
+
+        return *nDC;
+    }
+
+    NDC::NDC() {
+    }
+
+    NDC::~NDC() {
+    }
+
+    void NDC::_clear() {
+        _stack.clear();
+    }
+
+    NDC::ContextStack* NDC::_cloneStack() {
+        return new ContextStack(_stack);
+    }
+
+    const std::string& NDC::_get() const {
+        static std::string empty = "";
+
+        return (_stack.empty() ? empty : _stack.back().fullMessage);
+    }
+
+    size_t NDC::_getDepth() const {
+        return _stack.size();
+    }
+
+    void NDC::_inherit(NDC::ContextStack* stack) {
+        _stack = *stack;
+    }
+
+    std::string NDC::_pop() {
+        std::string result = _stack.back().message;
+        _stack.pop_back();
+        return result;
+    }
+
+    void NDC::_push(const std::string& message) {
+        if (_stack.empty()) {
+            _stack.push_back(DiagnosticContext(message));
+        } else {            
+            _stack.push_back(DiagnosticContext(message, _stack.back()));
+        }
+    }
+
+    void NDC::_setMaxDepth(int maxDepth) {
+        // XXX no maximum
+    }
+
+}
diff --git a/VrUtils/log4cpp/src/NTEventLogAppender.cpp b/VrUtils/log4cpp/src/NTEventLogAppender.cpp
new file mode 100644
index 0000000..f03fcf6
--- /dev/null
+++ b/VrUtils/log4cpp/src/NTEventLogAppender.cpp
@@ -0,0 +1,165 @@
+/*
+ * NTEventLogAppender.cpp
+ *
+ * Copyright 2002, Log4cpp Project. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifdef WIN32    // only available on Win32
+
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+
+    NTEventLogAppender::NTEventLogAppender(const std::string& name, const std::string& sourceName) :
+    AppenderSkeleton(name),
+    _strSourceName(sourceName),
+    _hEventSource(NULL)
+    {
+        open();
+    }
+
+    NTEventLogAppender::~NTEventLogAppender()
+    {
+        close();
+    }
+
+    void NTEventLogAppender::open()
+    {
+        addRegistryInfo(_strSourceName.c_str());
+#ifdef __WIN_ROS__
+        _hEventSource = ::RegisterEventSource(NULL, (LPCSTR)_strSourceName.c_str());
+#else
+        _hEventSource = ::RegisterEventSource(NULL, (LPCWSTR)_strSourceName.c_str());
+#endif
+    }
+
+    void NTEventLogAppender::close()
+    {
+        if (_hEventSource) {
+            ::DeregisterEventSource(_hEventSource);
+        }
+    }
+
+    bool NTEventLogAppender::reopen() {
+        close();
+        open();
+        return true;
+    }      
+
+    bool NTEventLogAppender::requiresLayout() const {
+        return false;
+    }
+
+    void NTEventLogAppender::setLayout(Layout* layout) {
+        return;
+    }
+
+    void NTEventLogAppender::_append(const LoggingEvent& event) {
+        const char* ps[1];
+        ps[0] = event.message.c_str();
+
+        const DWORD messageID = 0x1000;
+#ifdef __WIN_ROS__
+        ::ReportEvent(_hEventSource, getType(event.priority),  getCategory(event.priority),  messageID, NULL, 1, 0, (LPCSTR *)ps, NULL);
+#else
+        ::ReportEvent(_hEventSource, getType(event.priority),  getCategory(event.priority),  messageID, NULL, 1, 0, (LPCWSTR *)ps, NULL);
+#endif
+    }
+
+    /**
+     * Convert log4cpp Priority to an EventLog category. Each category is
+     * backed by a message resource so that proper category names will
+     * be displayed in the NT Event Viewer.
+     */
+    WORD NTEventLogAppender::getCategory(Priority::Value priority) {
+        // Priority values map directly to EventLog category values
+        return (WORD)((priority / 100) + 1);
+    }
+
+    /**
+     * Convert log4cpp Priority to an EventLog type. The log4cpp package
+     * supports 8 defined priorites, but the NT EventLog only knows
+     * 3 event types of interest to us: ERROR, WARNING, and INFO.
+     */
+    WORD NTEventLogAppender::getType(Priority::Value priority) {
+
+        WORD ret_val;
+  
+        switch (priority) {
+        case Priority::EMERG:
+          // FATAL is the same value as EMERG
+//        case Priority::FATAL:
+        case Priority::ALERT:
+        case Priority::CRIT:
+        case Priority::ERROR:
+            ret_val = EVENTLOG_ERROR_TYPE;
+            break;
+        case Priority::WARN:
+            ret_val = EVENTLOG_WARNING_TYPE;
+            break;
+        case Priority::NOTICE:
+        case Priority::INFO:
+        case Priority::DEBUG:
+        default:
+            ret_val = EVENTLOG_INFORMATION_TYPE;
+            break;
+        }
+        return ret_val;
+    }
+
+    HKEY NTEventLogAppender::regGetKey(TCHAR *subkey, DWORD *disposition) {
+        HKEY hkey = 0;
+        RegCreateKeyEx(HKEY_LOCAL_MACHINE, subkey, 0, NULL, 
+            REG_OPTION_NON_VOLATILE, KEY_SET_VALUE, NULL, 
+            &hkey, disposition);
+        return hkey;
+    }
+
+    void NTEventLogAppender::regSetString(HKEY hkey, TCHAR *name, TCHAR *value) {
+        RegSetValueEx(hkey, name, 0, REG_SZ, (LPBYTE)value, lstrlen(value));
+    }
+
+    void NTEventLogAppender::regSetDword(HKEY hkey, TCHAR *name, DWORD value) {
+        RegSetValueEx(hkey, name, 0, REG_DWORD, (LPBYTE)&value, sizeof(DWORD));
+    }
+
+    /*
+     * Add this source with appropriate configuration keys to the registry.
+     */
+    void NTEventLogAppender::addRegistryInfo(const char *source) {
+        const TCHAR *prefix = (TCHAR *)("SYSTEM\\CurrentControlSet\\Services\\EventLog\\Application\\");
+        DWORD disposition;
+        HKEY hkey = 0;
+        TCHAR subkey[256];
+
+        lstrcpy(subkey, prefix);
+#ifdef __WIN_ROS__
+        lstrcat(subkey, (LPCSTR)source);
+#else 
+        lstrcat(subkey, (LPCWSTR)source);
+#endif
+        hkey = regGetKey(subkey, &disposition);
+        if (disposition == REG_CREATED_NEW_KEY) {
+            regSetString(hkey, (TCHAR*)("EventMessageFile"), (TCHAR*)("NTEventLogAppender.dll"));
+            regSetString(hkey, (TCHAR*)("CategoryMessageFile"), (TCHAR*)("NTEventLogAppender.dll"));
+            regSetDword(hkey, (TCHAR*)("TypesSupported"), (DWORD)7);
+            regSetDword(hkey, (TCHAR*)("CategoryCount"), (DWORD)8);
+        }
+        RegCloseKey(hkey);
+        return;
+    }
+
+    std::auto_ptr create_nt_event_log_appender(const FactoryParams& params)
+    {
+       std::string name, source_name;
+       params.get_for("nt event log appender").required("name", name)("source_name", source_name);
+
+       return std::auto_ptr(new NTEventLogAppender(name, source_name));
+    }
+}
+
+#endif // WIN32
diff --git a/VrUtils/log4cpp/src/OmniThreads.cpp b/VrUtils/log4cpp/src/OmniThreads.cpp
new file mode 100644
index 0000000..600c61c
--- /dev/null
+++ b/VrUtils/log4cpp/src/OmniThreads.cpp
@@ -0,0 +1,22 @@
+/*
+ * Copyright 2002, Log4cpp Project. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include 
+
+#if defined(LOG4CPP_HAVE_THREADING) && defined(LOG4CPP_USE_OMNITHREADS)
+
+namespace log4cpp {
+    namespace threading {
+
+        std::string getThreadId() {
+            char buffer[16];
+            sprintf(buffer, "%d", ::omni_thread::self()->id());
+            return std::string(buffer);
+        };
+    }
+}
+
+#endif // LOG4CPP_HAVE_THREADING && LOG4CPP_USE_ONMITHREADS
diff --git a/VrUtils/log4cpp/src/OstreamAppender.cpp b/VrUtils/log4cpp/src/OstreamAppender.cpp
new file mode 100644
index 0000000..1243c43
--- /dev/null
+++ b/VrUtils/log4cpp/src/OstreamAppender.cpp
@@ -0,0 +1,44 @@
+/*
+ * OstreamAppender.cpp
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include "PortabilityImpl.hh"
+#ifdef LOG4CPP_HAVE_UNISTD_H
+#    include 
+#endif
+#include 
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+
+    OstreamAppender::OstreamAppender(const std::string& name, std::ostream* stream) : 
+        LayoutAppender(name),
+        _stream(stream) {
+    }
+    
+    OstreamAppender::~OstreamAppender() {
+        close();
+    }
+
+    void OstreamAppender::close() {
+        // empty
+    }
+
+    void OstreamAppender::_append(const LoggingEvent& event) {
+        (*_stream) << _getLayout().format(event);
+        if (!_stream->good()) {
+            // XXX help! help!
+        }
+    }
+
+    bool OstreamAppender::reopen() {
+        return true;
+    }      
+}
diff --git a/VrUtils/log4cpp/src/PThreads.cpp b/VrUtils/log4cpp/src/PThreads.cpp
new file mode 100644
index 0000000..6052508
--- /dev/null
+++ b/VrUtils/log4cpp/src/PThreads.cpp
@@ -0,0 +1,36 @@
+/*
+ * Copyright 2002, Log4cpp Project. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include 
+#include 
+
+#if defined(LOG4CPP_HAVE_THREADING) && defined(LOG4CPP_USE_PTHREADS)
+
+namespace log4cpp {
+    namespace threading {
+
+        std::string getThreadId() {
+            char buffer[4*sizeof(long)];
+            int bufsize = sizeof(buffer)/sizeof(buffer[0]);
+            int n = ::snprintf(buffer, bufsize, "%lu", pthread_self());	// thread id unsigned
+            if (n >= bufsize) {
+            	// escape to heap allocation
+				char *buff_alloc;
+				int size = ::asprintf(&buff_alloc, "%lu", pthread_self());	// thread id unsigned
+				if (size < 0) {
+					throw std::bad_alloc();
+				}
+				std::string res(buff_alloc);
+				free(buff_alloc);
+				return res;
+            }
+            return std::string(buffer);
+        }
+
+    }
+}
+
+#endif // LOG4CPP_HAVE_THREADING && LOG4CPP_USE_PTHREADS
diff --git a/VrUtils/log4cpp/src/PassThroughLayout.cpp b/VrUtils/log4cpp/src/PassThroughLayout.cpp
new file mode 100644
index 0000000..e30062f
--- /dev/null
+++ b/VrUtils/log4cpp/src/PassThroughLayout.cpp
@@ -0,0 +1,17 @@
+/*
+ * Copyright 2002, Log4cpp Project. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include 
+#include 
+#include 
+
+namespace log4cpp
+{
+   std::auto_ptr create_pass_through_layout(const FactoryParams& params)
+   {
+      return std::auto_ptr(new PassThroughLayout);
+   }
+}
diff --git a/VrUtils/log4cpp/src/PatternLayout.cpp b/VrUtils/log4cpp/src/PatternLayout.cpp
new file mode 100644
index 0000000..dbf5672
--- /dev/null
+++ b/VrUtils/log4cpp/src/PatternLayout.cpp
@@ -0,0 +1,438 @@
+/*
+ * PatternLayout.cpp
+ *
+ * Copyright 2002, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include "PortabilityImpl.hh"
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#ifdef LOG4CPP_HAVE_SSTREAM
+#include 
+#else
+#include 
+#endif
+
+#include 
+#include 
+#include 
+#include "Localtime.hh"
+
+#ifdef LOG4CPP_HAVE_INT64_T
+#ifdef LOG4CPP_HAVE_STDINT_H
+#include 
+#endif // LOG4CPP_HAVE_STDINT_H
+
+#ifdef LOG4CPP_MISSING_INT64_OSTREAM_OP
+/* workaround suggested at:
+   http://support.microsoft.com/default.aspx?scid=kb;EN-US;q168440
+*/
+
+#include 
+ 
+std::ostream& operator<<(std::ostream& os, int64_t i) {
+    char buf[20];
+    ::sprintf(buf,"%I64d", i);
+    return os << buf;
+}
+#endif // LOG4CPP_MISSING_INT64_OSTREAM_OP
+#endif // LOG4CPP_HAVE_INT64_T
+
+namespace log4cpp {
+
+    struct StringLiteralComponent : public PatternLayout::PatternComponent {
+        StringLiteralComponent(const std::string& literal) :
+            _literal(literal) {
+        }
+
+        virtual void append(std::ostringstream& out, const LoggingEvent& event) {
+            out << _literal;
+        }
+
+        private:
+        std::string _literal;
+    };
+
+    struct CategoryNameComponent : public PatternLayout::PatternComponent {
+        CategoryNameComponent(std::string specifier) {
+            if (specifier == "") {
+                _precision = -1;
+            } else {
+#ifdef LOG4CPP_HAVE_SSTREAM 
+                std::istringstream s(specifier);
+#else
+                std::istrstream s(specifier.c_str());
+#endif
+                s >> _precision;
+            }
+        }
+
+        virtual void append(std::ostringstream& out, const LoggingEvent& event) {
+            if (_precision == -1) {
+                out << event.categoryName;
+            } else {
+                std::string::size_type begin = std::string::npos;
+                for(int i = 0; i < _precision; i++) {
+                    begin = event.categoryName.rfind('.', begin - 2);
+                    if (begin == std::string::npos) {
+                        begin = 0;
+                        break;
+                    }
+                    begin++;
+                }
+                if (begin == std::string::npos) {
+                    begin = 0;
+                }
+                out << event.categoryName.substr(begin);
+            }
+        }
+
+        private:
+        int _precision;
+    };
+
+    struct MessageComponent : public PatternLayout::PatternComponent {
+        virtual void append(std::ostringstream& out, const LoggingEvent& event) {
+            out << event.message;
+        }
+    };
+
+    struct NDCComponent : public PatternLayout::PatternComponent {
+        virtual void append(std::ostringstream& out, const LoggingEvent& event) {
+            out << event.ndc;
+        }
+    };
+
+    struct PriorityComponent : public PatternLayout::PatternComponent {
+        virtual void append(std::ostringstream& out, const LoggingEvent& event) {
+            out << Priority::getPriorityName(event.priority);
+        }
+    };
+
+    struct ThreadNameComponent : public PatternLayout::PatternComponent {
+        virtual void append(std::ostringstream& out, const LoggingEvent& event) {
+            out << event.threadName;
+        }
+    };
+
+    struct ProcessorTimeComponent : public PatternLayout::PatternComponent {
+        virtual void append(std::ostringstream& out, const LoggingEvent& event) {
+            out << std::clock();
+        }
+    };
+
+    struct TimeStampComponent : public PatternLayout::PatternComponent {
+        static const char* const FORMAT_ISO8601;
+        static const char* const FORMAT_ABSOLUTE;
+        static const char* const FORMAT_DATE;
+
+        TimeStampComponent(std::string timeFormat) {
+            if ((timeFormat == "") || (timeFormat == "ISO8601")) {
+                timeFormat = FORMAT_ISO8601;
+            } else if (timeFormat == "ABSOLUTE") {
+                timeFormat = FORMAT_ABSOLUTE;
+            } else if (timeFormat == "DATE") {
+                timeFormat = FORMAT_DATE;
+            }
+            std::string::size_type pos = timeFormat.find("%l");
+            if (pos == std::string::npos) {
+                _printMillis = false;
+                _timeFormat1 = timeFormat; 
+            } else {
+                _printMillis = true;
+                _timeFormat1 = timeFormat.substr(0, pos);
+                _timeFormat2 = timeFormat.substr(pos + 2);
+            }
+        }
+
+        virtual void append(std::ostringstream& out, const LoggingEvent& event) {
+            struct std::tm currentTime;
+            std::time_t t = event.timeStamp.getSeconds();
+            localtime(&t, ¤tTime);
+            char formatted[100];
+            std::string timeFormat;
+            if (_printMillis) {
+                std::ostringstream formatStream;
+                formatStream << _timeFormat1 
+                             << std::setw(3) << std::setfill('0')
+                             << event.timeStamp.getMilliSeconds()
+                             << _timeFormat2;
+                timeFormat = formatStream.str();
+            } else {
+                timeFormat = _timeFormat1;
+            }
+            std::strftime(formatted, sizeof(formatted), timeFormat.c_str(), ¤tTime);
+            out << formatted;
+        }
+
+        private:
+        std::string _timeFormat1;
+        std::string _timeFormat2;
+        bool _printMillis;
+    };
+
+    const char* const TimeStampComponent::FORMAT_ISO8601 = "%Y-%m-%d %H:%M:%S,%l";
+    const char* const TimeStampComponent::FORMAT_ABSOLUTE = "%H:%M:%S,%l";
+    const char* const TimeStampComponent::FORMAT_DATE = "%d %b %Y %H:%M:%S,%l";
+
+    struct SecondsSinceEpochComponent : public PatternLayout::PatternComponent {
+        virtual void append(std::ostringstream& out, const LoggingEvent& event) {
+            out << event.timeStamp.getSeconds();
+        }
+    };
+
+    struct MillisSinceEpochComponent : public PatternLayout::PatternComponent {
+        virtual void append(std::ostringstream& out, const LoggingEvent& event) {
+#ifdef LOG4CPP_HAVE_INT64_T
+            int64_t t = event.timeStamp.getSeconds() -
+                TimeStamp::getStartTime().getSeconds();
+            t *= 1000;
+            t += event.timeStamp.getMilliSeconds() -
+                TimeStamp::getStartTime().getMilliSeconds();
+            
+            out << t;
+#else
+            double t = event.timeStamp.getSeconds() -
+                TimeStamp::getStartTime().getSeconds();
+            t *= 1000;
+            t += event.timeStamp.getMilliSeconds() -
+                TimeStamp::getStartTime().getMilliSeconds();
+            
+            out << std::setiosflags(std::ios::fixed)
+                << std::setprecision(0) << t;
+#endif
+        }
+    };
+
+    struct FormatModifierComponent : public PatternLayout::PatternComponent {
+        FormatModifierComponent(PatternLayout::PatternComponent* component,
+                                size_t minWidth, size_t maxWidth, bool alignLeft) :
+            _component(component) , 
+            _minWidth(minWidth),
+            _maxWidth(maxWidth),
+            _alignLeft(alignLeft) {
+        }
+
+        virtual ~FormatModifierComponent() {
+            delete _component;
+        }
+
+        virtual void append(std::ostringstream& out, const LoggingEvent& event) {
+            std::ostringstream s;
+            _component->append(s, event);
+            std::string msg = s.str();
+            if (_maxWidth > 0 && _maxWidth < msg.length()) {
+                msg.erase(_maxWidth);
+            }
+            size_t fillCount = _minWidth - msg.length();
+            if (_minWidth > msg.length()) {
+                if (_alignLeft) {
+                    out << msg << std::string(fillCount, ' ');
+                } else {
+                    out << std::string(fillCount, ' ') << msg;
+                }
+            } else {
+                out << msg;
+            }
+        }
+
+        private:
+        PatternLayout::PatternComponent* _component;
+        size_t _minWidth;
+        size_t _maxWidth;
+        bool _alignLeft;
+    };
+
+    const char* PatternLayout::DEFAULT_CONVERSION_PATTERN = "%m%n";
+    const char* PatternLayout::SIMPLE_CONVERSION_PATTERN = "%p - %m%n";
+    const char* PatternLayout::BASIC_CONVERSION_PATTERN = "%R %p %c %x: %m%n";
+    const char* PatternLayout::TTCC_CONVERSION_PATTERN = "%r [%t] %p %c %x - %m%n";
+
+    PatternLayout::PatternLayout() {
+        try {
+            setConversionPattern(DEFAULT_CONVERSION_PATTERN);
+        } catch(ConfigureFailure&) {
+        }
+    }
+
+    PatternLayout::~PatternLayout() {
+        clearConversionPattern();
+    }
+
+    void PatternLayout::clearConversionPattern() {
+        for(ComponentVector::const_iterator i = _components.begin();
+            i != _components.end(); ++i) {
+            delete (*i);
+        }
+        _components.clear();
+        _conversionPattern = "";
+    }
+
+    void PatternLayout::setConversionPattern(const std::string& conversionPattern) {
+#ifdef LOG4CPP_HAVE_SSTREAM 
+        std::istringstream conversionStream(conversionPattern);
+#else
+        std::istrstream conversionStream(conversionPattern.c_str());
+#endif
+        std::string literal;
+
+        char ch;
+        PatternLayout::PatternComponent* component = NULL;
+        int minWidth = 0;
+        size_t maxWidth = 0;
+        clearConversionPattern();
+        while (conversionStream.get(ch)) {
+            if (ch == '%') {
+                // readPrefix;
+                {
+                    char ch2;
+                    conversionStream.get(ch2);
+                    if ((ch2 == '-') || ((ch2 >= '0') && (ch2 <= '9'))) {
+                        conversionStream.putback(ch2);
+                        conversionStream >> minWidth;
+                        conversionStream.get(ch2);
+                    } 
+                    if (ch2 == '.') {
+                        conversionStream >> maxWidth;
+                    } else {
+                        conversionStream.putback(ch2);
+                    }                        
+                }
+                if (!conversionStream.get(ch)) {
+                    std::ostringstream msg;
+                    msg << "unterminated conversion specifier in '" << conversionPattern << "' at index " << conversionStream.tellg();
+                    throw ConfigureFailure(msg.str());
+                }
+                std::string specPostfix = "";
+                // read postfix
+                {
+                    char ch2;
+                    if (conversionStream.get(ch2)) {
+                        if (ch2 == '{') {
+                            while(conversionStream.get(ch2) && (ch2 != '}'))
+                                specPostfix += ch2;
+                        } else {
+                            conversionStream.putback(ch2);
+                        }
+                    }
+                }
+                switch (ch) {
+                case '%':
+                    literal += ch;
+                    break;
+                case 'm':
+                    component = new MessageComponent();
+                    break;
+                case 'n':
+                    {
+                        std::ostringstream endline;
+                        endline << std::endl;
+                        literal += endline.str();
+                    }
+                    break;
+                case 'c':
+                    component = new CategoryNameComponent(specPostfix);
+                    break;
+                case 'd':
+                    component = new TimeStampComponent(specPostfix);
+                    break;
+                case 'p':
+                    component = new PriorityComponent();
+                    break;
+                case 'r':
+                    component = new MillisSinceEpochComponent();
+                    break;
+                case 'R':
+                    component = new SecondsSinceEpochComponent();
+                    break;
+                case 't':
+                    component = new ThreadNameComponent();
+                    break;
+                case 'u':
+                    component = new ProcessorTimeComponent();
+                    break;
+                case 'x':
+                    component = new NDCComponent();
+                    break;
+                default:
+                    std::ostringstream msg;
+                    msg << "unknown conversion specifier '" << ch << "' in '" << conversionPattern << "' at index " << conversionStream.tellg();
+                    throw ConfigureFailure(msg.str());                    
+                }
+                if (component) {
+                    if (!literal.empty()) {
+                        _components.push_back(new StringLiteralComponent(literal));
+                        literal = "";
+                    }
+                    if ((minWidth != 0) || (maxWidth != 0)) {
+                        component = new FormatModifierComponent(component, std::abs(minWidth), maxWidth, minWidth < 0);
+                        minWidth = maxWidth = 0;
+                    }
+                    _components.push_back(component);
+                    component = NULL;
+                }
+            } else {
+                literal += ch;
+            }
+        }
+        if (!literal.empty()) {
+            _components.push_back(new StringLiteralComponent(literal));
+        }
+
+        _conversionPattern = conversionPattern;
+    }
+
+    std::string PatternLayout::getConversionPattern() const {
+        return _conversionPattern;
+    }
+
+    std::string PatternLayout::format(const LoggingEvent& event) {
+        std::ostringstream message;
+
+        for(ComponentVector::const_iterator i = _components.begin();
+            i != _components.end(); ++i) {
+            (*i)->append(message, event);
+        }
+
+        return message.str();
+    }
+
+    std::auto_ptr create_pattern_layout(const FactoryParams& params)
+    {
+       std::string pattern;
+       params.get_for("pattern layout").optional("pattern", pattern);
+       std::auto_ptr result(new PatternLayout);
+       PatternLayout* l = static_cast(result.get());
+       if (pattern.empty() || pattern == "default")
+          return result;
+
+       if (pattern == "simple")
+       {
+          l->setConversionPattern(PatternLayout::SIMPLE_CONVERSION_PATTERN);
+          return result;
+       }
+
+       if (pattern == "basic")
+       {
+          l->setConversionPattern(PatternLayout::BASIC_CONVERSION_PATTERN);
+          return result;
+       }
+
+       if (pattern == "ttcc")
+       {
+          l->setConversionPattern(PatternLayout::TTCC_CONVERSION_PATTERN);
+          return result;
+       }
+       
+       l->setConversionPattern(pattern);
+       return result;
+   }
+}
diff --git a/VrUtils/log4cpp/src/PortabilityImpl.cpp b/VrUtils/log4cpp/src/PortabilityImpl.cpp
new file mode 100644
index 0000000..491fdc0
--- /dev/null
+++ b/VrUtils/log4cpp/src/PortabilityImpl.cpp
@@ -0,0 +1,27 @@
+/*
+ * PortabilityImpl.cpp
+ *
+ * Copyright 2002, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2002, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+/*
+  This file contains various portability functions
+*/
+
+#include "PortabilityImpl.hh"
+
+#ifndef LOG4CPP_HAVE_SSTREAM
+
+namespace std {
+    std::string ostringstream::str() { 
+        (*this) << '\0'; 
+        std::string msg(ostrstream::str()); 
+        ostrstream::freeze(false); //unfreeze stream 
+        return msg;         
+    } 
+}
+
+#endif
diff --git a/VrUtils/log4cpp/src/PortabilityImpl.hh b/VrUtils/log4cpp/src/PortabilityImpl.hh
new file mode 100644
index 0000000..41fea22
--- /dev/null
+++ b/VrUtils/log4cpp/src/PortabilityImpl.hh
@@ -0,0 +1,70 @@
+/*
+ * PortabilityImpl.hh
+ *
+ * Copyright 2002, Log4cpp Project. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_PORTABILITYIMPL_HH
+#define _LOG4CPP_PORTABILITYIMPL_HH
+
+#include 
+
+#ifdef LOG4CPP_CSTDLIB_NOT_IN_STD
+#include 
+namespace std {
+    static inline char *getenv(const char *name) { return ::getenv(name); };
+    static inline int atoi(const char *nptr) { return ::atoi(nptr); };
+    static inline unsigned long int
+        strtoul(const char *nptr, char **endptr, int base) { 
+        return ::strtol(nptr, endptr, base); 
+    };
+    static inline void abort(void) { ::abort(); };
+
+}
+#endif
+    
+#ifdef LOG4CPP_CSTRING_NOT_IN_STD
+#include 
+namespace std {
+    static inline void *memmove(void *dest, const void *src, size_t n) {
+        return ::memmove(dest, src, n);
+    };
+}
+#endif
+
+#ifdef LOG4CPP_CTIME_NOT_IN_STD
+#include 
+namespace std {
+    static inline size_t strftime(char *strDest, size_t maxsize, const char *format, const struct tm *timeptr ) {
+        return ::strftime(strDest,maxsize,format,timeptr);
+    }
+    static inline struct tm *localtime( const time_t *timer ) { return ::localtime(timer); }
+    using ::clock;
+    using ::tm;
+    using ::time_t;
+}
+#endif
+
+#ifdef LOG4CPP_CMATH_NOT_IN_STD
+#include 
+namespace std {
+    static inline int abs(int i) { return ::abs(i); }
+}
+#endif
+
+namespace log4cpp
+{
+    template const T& min(const T& a, const T& b)
+    {
+       return a < b ? a : b;
+    }
+
+    template const T& max(const T& a, const T& b)
+    {
+       return a > b ? a : b;
+    }
+}
+
+#endif // _LOG4CPP_PORTABILITYIMPL_HH
diff --git a/VrUtils/log4cpp/src/Priority.cpp b/VrUtils/log4cpp/src/Priority.cpp
new file mode 100644
index 0000000..dd0fad2
--- /dev/null
+++ b/VrUtils/log4cpp/src/Priority.cpp
@@ -0,0 +1,70 @@
+/*
+ * Priority.cpp
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include "PortabilityImpl.hh"
+#include 
+#include 
+
+namespace log4cpp {
+
+    namespace {
+	const std::string *names() {
+	    static const std::string priority_names[10] = {
+			"FATAL",
+			"ALERT",
+			"CRIT",
+			"ERROR",
+			"WARN",
+			"NOTICE",
+			"INFO",
+			"DEBUG",
+			"NOTSET",
+			"UNKNOWN" 
+	    };
+	    return priority_names;
+	}
+    }    
+
+    const int log4cpp::Priority::MESSAGE_SIZE = 8;
+    
+
+    const std::string& Priority::getPriorityName(int priority) throw() {
+         
+        priority++;
+        priority /= 100;
+        return names()[((priority < 0) || (priority > 8)) ? 8 : priority];
+    }
+
+    Priority::Value Priority::getPriorityValue(const std::string& priorityName) {
+	Priority::Value value = -1;
+
+	for (unsigned int i = 0; i < 10; i++) {
+	    if (priorityName == names()[i]) {
+		value = i * 100;
+		break;
+	    }
+	}
+
+	if (value == -1) {
+	    if (priorityName == "EMERG") {
+		    value = 0;
+	    } else {
+		    char* endPointer;
+		    value = std::strtoul(priorityName.c_str(), &endPointer, 10);
+		    if (*endPointer != 0) {
+		        throw std::invalid_argument(
+					std::string("unknown priority name: '") + priorityName + "'"
+				);
+		    }
+	    }
+	}
+	
+	return value;
+    }
+}
diff --git a/VrUtils/log4cpp/src/Properties.cpp b/VrUtils/log4cpp/src/Properties.cpp
new file mode 100644
index 0000000..6eca311
--- /dev/null
+++ b/VrUtils/log4cpp/src/Properties.cpp
@@ -0,0 +1,158 @@
+/*
+ * Properties.cpp
+ *
+ * Copyright 2002, Log4cpp Project. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include "Properties.hh"
+#include 
+#include "StringUtil.hh"
+
+namespace log4cpp {
+    
+    Properties::Properties() {
+    }
+
+    Properties::~Properties() {
+    }
+
+    void Properties::load(std::istream& in) {
+        clear();
+
+        std::string fullLine, command;
+        std::string leftSide, rightSide;
+        char line[256];
+        std::string::size_type length;
+        bool partiallyRead(false);	// fix for bug#137, for strings longer than 256 chars
+
+        while (in) {
+        	if (in.getline(line, 256) || !in.bad()) {
+        		// either string is read fully or only partially (logical but not read/write error)
+        		if (partiallyRead)
+        			fullLine.append(line);
+        		else
+        			fullLine = line;
+        		partiallyRead = (in.fail() && !in.bad());
+        		if (partiallyRead && !in.eof()) {
+        			in.clear(in.rdstate() & ~std::ios::failbit);
+        			continue; // to get full line
+        		}
+        	} else {
+       			break;
+        	}
+            /* if the line contains a # then it is a comment
+               if we find it anywhere other than the beginning, then we assume 
+               there is a command on that line, and it we don't find it at all
+               we assume there is a command on the line (we test for valid 
+               command later) if neither is true, we continue with the next line
+            */
+            length = fullLine.find('#');
+            if (length == std::string::npos) {
+                command = fullLine;
+            } else if (length > 0) {
+                command = fullLine.substr(0, length);
+            } else {
+                continue;
+            }
+
+            // check the command and handle it
+            length = command.find('=');
+            if (length != std::string::npos) {
+                leftSide = StringUtil::trim(command.substr(0, length));
+                rightSide = StringUtil::trim(command.substr(length + 1, command.size() - length));
+                _substituteVariables(rightSide);
+            } else {
+                continue;
+            }
+
+            /* handle the command by determining what object the left side
+               refers to and setting the value given on the right
+               ASSUMPTIONS:  
+               1. first object given  on left side is "log4j" or "log4cpp"
+               2. all class names on right side are ignored because we
+               probably cannot resolve them anyway.
+            */
+
+            // strip off the "log4j" or "log4cpp"
+            length = leftSide.find('.');
+            if (leftSide.substr(0, length) == "log4j" ||
+                leftSide.substr(0, length) == "log4cpp")
+                leftSide = leftSide.substr(length + 1);
+
+            // add to the map of properties
+            insert(value_type(leftSide, rightSide));
+        }
+    }
+
+    void Properties::save(std::ostream& out) {
+        for(const_iterator i = begin(); i != end(); ++i) {
+            out << (*i).first << "=" << (*i).second << std::endl;
+        }
+    }
+    
+    int Properties::getInt(const std::string& property, int defaultValue) {
+        const_iterator key = find(property);
+        return (key == end()) ? defaultValue : std::atoi((*key).second.c_str());
+    }
+
+    bool Properties::getBool(const std::string& property, bool defaultValue) {
+        const_iterator key = find(property);
+        return (key == end()) ? defaultValue : ((*key).second == "true");
+    }
+
+    std::string Properties::getString(const std::string& property, 
+                                      const char* defaultValue) {
+        const_iterator key = find(property);
+        return (key == end()) ? std::string(defaultValue) : (*key).second;
+    }
+
+    void Properties::_substituteVariables(std::string& value) {
+        std::string result;
+
+        std::string::size_type left = 0;
+        std::string::size_type right = value.find("${", left);
+        if (right == std::string::npos) {
+            // bail out early for 99% of cases
+            return;
+        }
+
+        while(true) {
+            result += value.substr(left, right - left);
+            if (right == std::string::npos) {
+                break;
+            }
+
+            left = right + 2;
+            right = value.find('}', left);
+            if (right == std::string::npos) {
+                // no close tag, use string literally
+                result += value.substr(left - 2);
+                break;
+            } else {
+                const std::string key = value.substr(left, right - left);
+                if (key == "${") {
+                    result += "${";
+                } else {
+                    char* env_value = std::getenv(key.c_str());
+                    if (env_value) {
+                        result += env_value;
+                    } else {
+                        const_iterator it = find(key);
+                        if (it == end()) {
+                            // not found assume empty;
+                        } else {
+                            result += (*it).second;
+                        }
+                    }
+                }
+                left = right + 1;
+            }
+
+            right = value.find("${", left);
+        }
+
+        value = result;
+    }
+}
diff --git a/VrUtils/log4cpp/src/Properties.hh b/VrUtils/log4cpp/src/Properties.hh
new file mode 100644
index 0000000..4f3b97e
--- /dev/null
+++ b/VrUtils/log4cpp/src/Properties.hh
@@ -0,0 +1,38 @@
+/*
+ * Properties.hh
+ *
+ * Copyright 2002, Log4cpp Project. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_PROPERTIES_HH
+#define _LOG4CPP_PROPERTIES_HH
+
+#include "PortabilityImpl.hh"
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+    
+    class Properties : public std::map {
+        public:
+        Properties();
+        virtual ~Properties();
+
+        virtual void load(std::istream& in);
+        virtual void save(std::ostream& out);
+
+        virtual int getInt(const std::string& property, int defaultValue);
+        virtual bool getBool(const std::string& property, bool defaultValue);
+        virtual std::string getString(const std::string& property,
+                                      const char* defaultValue);
+
+        protected:
+        virtual void _substituteVariables(std::string& value);
+    };
+}
+
+#endif // _LOG4CPP_PROPERTIES_HH
+
diff --git a/VrUtils/log4cpp/src/PropertyConfigurator.cpp b/VrUtils/log4cpp/src/PropertyConfigurator.cpp
new file mode 100644
index 0000000..0681bf2
--- /dev/null
+++ b/VrUtils/log4cpp/src/PropertyConfigurator.cpp
@@ -0,0 +1,20 @@
+/*
+ * PropertyConfigurator.cpp
+ *
+ * Copyright 2001, Glen Scott. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+#include "PortabilityImpl.hh"
+#include 
+#include "PropertyConfiguratorImpl.hh"
+
+namespace log4cpp {
+
+    void PropertyConfigurator::configure(const std::string& initFileName) {
+        static PropertyConfiguratorImpl configurator;
+        
+        configurator.doConfigure(initFileName);
+    }
+}
+
diff --git a/VrUtils/log4cpp/src/PropertyConfiguratorImpl.cpp b/VrUtils/log4cpp/src/PropertyConfiguratorImpl.cpp
new file mode 100644
index 0000000..5f62b56
--- /dev/null
+++ b/VrUtils/log4cpp/src/PropertyConfiguratorImpl.cpp
@@ -0,0 +1,370 @@
+/*
+ * PropertyConfiguratorImpl.cpp
+ *
+ * Copyright 2002, Log4cpp Project. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+#include "PortabilityImpl.hh"
+
+#ifdef LOG4CPP_HAVE_UNISTD_H
+#include 
+#endif
+#ifdef LOG4CPP_HAVE_IO_H
+#    include 
+#endif
+#include 
+
+#include 
+#include 
+
+#include 
+
+// appenders
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#ifdef WIN32
+#include 
+#include 
+#endif
+#ifndef LOG4CPP_DISABLE_REMOTE_SYSLOG
+#include 
+#endif // LOG4CPP_DISABLE_REMOTE_SYSLOG
+#ifdef LOG4CPP_HAVE_LIBIDSA
+#include 
+#endif	// LOG4CPP_HAVE_LIBIDSA
+#ifdef LOG4CPP_HAVE_SYSLOG
+#include 
+#endif
+
+// layouts
+#include 
+#include 
+#include 
+#include 
+
+#include 
+#include 
+
+#include 
+#include 
+#include 
+#include 
+
+#include "PropertyConfiguratorImpl.hh"
+#include "StringUtil.hh"
+
+namespace log4cpp {
+
+    PropertyConfiguratorImpl::PropertyConfiguratorImpl() {
+    }
+
+    PropertyConfiguratorImpl::~PropertyConfiguratorImpl() {
+    }
+
+    void PropertyConfiguratorImpl::doConfigure(const std::string& initFileName) {
+        std::ifstream initFile(initFileName.c_str());
+
+        if (!initFile) {
+            throw ConfigureFailure(std::string("File ") + initFileName + " does not exist");
+        }
+
+        doConfigure(initFile);
+    }
+
+
+    void PropertyConfiguratorImpl::doConfigure(std::istream& in) {
+        // parse the file to get all of the configuration
+        _properties.load(in);
+
+        instantiateAllAppenders();
+        // get categories
+        std::vector catList;
+        getCategories(catList);
+
+        // configure each category
+        for(std::vector::const_iterator iter = catList.begin();
+            iter != catList.end(); ++iter) {
+            configureCategory(*iter);
+        }
+    }
+
+    void PropertyConfiguratorImpl::instantiateAllAppenders() {
+        std::string currentAppender;
+
+        std::string prefix("appender");
+        Properties::const_iterator from = _properties.lower_bound(prefix + '.');
+        Properties::const_iterator to = _properties.lower_bound(prefix + '/');
+        for(Properties::const_iterator i = from; i != to; ++i) {
+            const std::string& key = (*i).first;
+            const std::string& value = (*i).second;
+            std::list propNameParts;
+            std::back_insert_iterator > pnpIt(propNameParts);
+            StringUtil::split(pnpIt, key, '.');
+            std::list::const_iterator i2 = propNameParts.begin();
+            std::list::const_iterator iEnd = propNameParts.end();
+            if (++i2 == iEnd) {
+                throw ConfigureFailure(std::string("missing appender name"));
+            }
+
+            const std::string appenderName = *i2++;
+
+            /* WARNING, approaching lame code section:
+               skipping of the Appenders properties only to get them 
+               again in instantiateAppender.
+            */
+            if (appenderName == currentAppender) {
+                // simply skip properties for the current appender
+            } else {
+                if (i2 == iEnd) {
+                    // a new appender
+                    currentAppender = appenderName;
+                    _allAppenders[currentAppender] = 
+                        instantiateAppender(currentAppender);
+                } else {
+                    throw ConfigureFailure(std::string("partial appender definition : ") + key);
+                }
+            }                            
+        }
+    }
+
+    void PropertyConfiguratorImpl::configureCategory(const std::string& categoryName) {
+        // start by reading the "rootCategory" key
+        std::string tempCatName = 
+            (categoryName == "rootCategory") ? categoryName : "category." + categoryName;
+
+        Properties::iterator iter = _properties.find(tempCatName);
+
+        if (iter == _properties.end())
+            throw ConfigureFailure(std::string("Unable to find category: ") + tempCatName);
+
+        // need to get the root instance of the category
+        Category& category = (categoryName == "rootCategory") ?
+            Category::getRoot() : Category::getInstance(categoryName);
+
+        
+        std::list tokens;
+        std::back_insert_iterator > tokIt(tokens);
+        StringUtil::split(tokIt, (*iter).second, ',');
+        std::list::const_iterator i = tokens.begin();
+        std::list::const_iterator iEnd = tokens.end();
+
+        Priority::Value priority = Priority::NOTSET;
+        if (i != iEnd) {
+            std::string priorityName = StringUtil::trim(*i++);
+            try {
+                if (priorityName != "") {
+                    priority = Priority::getPriorityValue(priorityName);
+                }
+            } catch(std::invalid_argument& e) {
+                throw ConfigureFailure(std::string(e.what()) + 
+                    " for category '" + categoryName + "'");
+            }
+        }
+
+        try {
+        	category.setPriority(priority);
+        } catch (std::invalid_argument& e) {
+        	throw ConfigureFailure(std::string(e.what()) +
+                    " for category '" + categoryName + "'");
+        }
+
+        bool additive = _properties.getBool("additivity." + categoryName, true);
+        category.setAdditivity(additive);
+
+        category.removeAllAppenders();
+        for(/**/; i != iEnd; ++i) {           
+            std::string appenderName = StringUtil::trim(*i);
+            AppenderMap::const_iterator appIt = 
+                _allAppenders.find(appenderName);
+            if (appIt == _allAppenders.end()) {
+                // appender not found;
+                throw ConfigureFailure(std::string("Appender '") +
+                    appenderName + "' not found for category '" + categoryName + "'");
+            } else {
+                /* pass by reference, i.e. don't transfer ownership
+                 */
+                category.addAppender(*((*appIt).second));
+            }
+        }
+    }
+
+    Appender* PropertyConfiguratorImpl::instantiateAppender(const std::string& appenderName) {
+        Appender* appender = NULL;
+        std::string appenderPrefix = std::string("appender.") + appenderName;
+
+        // determine the type by the appenderName 
+        Properties::iterator key = _properties.find(appenderPrefix);
+        if (key == _properties.end())
+            throw ConfigureFailure(std::string("Appender '") + appenderName + "' not defined");
+		
+        std::string::size_type length = (*key).second.find_last_of(".");
+        std::string appenderType = (length == std::string::npos) ?
+            (*key).second : (*key).second.substr(length+1);
+
+        // and instantiate the appropriate object
+        if (appenderType == "ConsoleAppender") {
+            std::string target = _properties.getString(appenderPrefix + ".target", "stdout");
+            std::transform(target.begin(), target.end(), target.begin(), ::tolower);
+            if(target.compare("stdout") == 0) {
+                appender = new OstreamAppender(appenderName, &std::cout);
+            }
+            else if(target.compare("stderr") == 0) {
+                appender = new OstreamAppender(appenderName, &std::cerr);
+            }
+            else{
+                throw ConfigureFailure(appenderName + "' has invalid target '" + target + "'");
+            }
+        }
+        else if (appenderType == "FileAppender") {
+            std::string fileName = _properties.getString(appenderPrefix + ".fileName", "foobar");
+            bool append = _properties.getBool(appenderPrefix + ".append", true);
+            appender = new FileAppender(appenderName, fileName, append);
+        }
+        else if (appenderType == "RollingFileAppender") {
+            std::string fileName = _properties.getString(appenderPrefix + ".fileName", "foobar");
+            size_t maxFileSize = _properties.getInt(appenderPrefix + ".maxFileSize", 10*1024*1024);
+            int maxBackupIndex = _properties.getInt(appenderPrefix + ".maxBackupIndex", 1);
+            bool append = _properties.getBool(appenderPrefix + ".append", true);
+            appender = new RollingFileAppender(appenderName, fileName, maxFileSize, maxBackupIndex,
+                append);
+        }
+        else if (appenderType == "DailyRollingFileAppender") {
+            std::string fileName = _properties.getString(appenderPrefix + ".fileName", "foobar");
+            unsigned int maxDaysKeep = _properties.getInt(appenderPrefix + ".maxDaysKeep", 0);
+            bool append = _properties.getBool(appenderPrefix + ".append", true);
+            appender = new DailyRollingFileAppender(appenderName, fileName, maxDaysKeep, append);
+        }
+#ifndef LOG4CPP_DISABLE_REMOTE_SYSLOG
+        else if (appenderType == "SyslogAppender") {
+            std::string syslogName = _properties.getString(appenderPrefix + ".syslogName", "syslog");
+            std::string syslogHost = _properties.getString(appenderPrefix + ".syslogHost", "localhost");
+            int facility = _properties.getInt(appenderPrefix + ".facility", -1) * 8; // * 8 to get LOG_KERN, etc. compatible values. 
+            int portNumber = _properties.getInt(appenderPrefix + ".portNumber", -1);
+            appender = new RemoteSyslogAppender(appenderName, syslogName, 
+                                                syslogHost, facility, portNumber);
+        }
+#endif // LOG4CPP_DISABLE_REMOTE_SYSLOG
+#ifdef LOG4CPP_HAVE_SYSLOG
+        else if (appenderType == "LocalSyslogAppender") {
+            std::string syslogName = _properties.getString(appenderPrefix + ".syslogName", "syslog");
+            int facility = _properties.getInt(appenderPrefix + ".facility", -1) * 8; // * 8 to get LOG_KERN, etc. compatible values. 
+            appender = new SyslogAppender(appenderName, syslogName, facility);
+        }
+#endif // LOG4CPP_HAVE_SYSLOG
+        else if (appenderType == "AbortAppender") {
+            appender = new AbortAppender(appenderName);
+        }
+#ifdef LOG4CPP_HAVE_LIBIDSA
+        else if (appenderType == "IdsaAppender") {
+            // default idsa name ???
+            std::string idsaName = _properties.getString(appenderPrefix + ".idsaName", "foobar");
+
+            appender = new IdsaAppender(appenderName, idsaname);
+        }
+#endif	// LOG4CPP_HAVE_LIBIDSA
+
+#ifdef WIN32
+        // win32 debug appender
+        else if (appenderType == "Win32DebugAppender") {
+            appender = new Win32DebugAppender(appenderName);
+        }
+        // win32 NT event log appender
+        else if (appenderType == "NTEventLogAppender") {
+            std::string source = _properties.getString(appenderPrefix + ".source", "foobar");
+            appender = new NTEventLogAppender(appenderName, source);
+        }
+#endif	// WIN32
+        else {
+            throw ConfigureFailure(std::string("Appender '") + appenderName + 
+                                   "' has unknown type '" + appenderType + "'");
+        }
+
+        if (appender->requiresLayout()) {
+            setLayout(appender, appenderName);
+        }
+
+        // set threshold
+        std::string thresholdName = _properties.getString(appenderPrefix + ".threshold", "");
+        try {
+            if (thresholdName != "") {
+                appender->setThreshold(Priority::getPriorityValue(thresholdName));
+            }
+        } catch(std::invalid_argument& e) {
+	    delete appender;	// fix for #3109495
+            throw ConfigureFailure(std::string(e.what()) + 
+                " for threshold of appender '" + appenderName + "'");
+        }
+
+        return appender;
+    }
+
+    void PropertyConfiguratorImpl::setLayout(Appender* appender, const std::string& appenderName) {
+        // determine the type by appenderName
+        std::string tempString;
+        Properties::iterator key = 
+            _properties.find(std::string("appender.") + appenderName + ".layout");
+
+        if (key == _properties.end())
+            throw ConfigureFailure(std::string("Missing layout property for appender '") + 
+                                   appenderName + "'");
+		
+        std::string::size_type length = (*key).second.find_last_of(".");
+        std::string layoutType = (length == std::string::npos) ? 
+            (*key).second : (*key).second.substr(length+1);
+ 
+        Layout* layout;
+        // and instantiate the appropriate object
+        if (layoutType == "BasicLayout") {
+            layout = new BasicLayout();
+        }
+        else if (layoutType == "SimpleLayout") {
+            layout = new SimpleLayout();
+        }
+        else if (layoutType == "PatternLayout") {
+            // need to read the properties to configure this one
+            PatternLayout* patternLayout = new PatternLayout();
+
+            key = _properties.find(std::string("appender.") + appenderName + ".layout.ConversionPattern");
+            if (key == _properties.end()) {
+                // leave default pattern
+            } else {
+                // set pattern
+                patternLayout->setConversionPattern((*key).second);
+            }
+
+            layout = patternLayout;
+        }
+        else {
+            throw ConfigureFailure(std::string("Unknown layout type '" + layoutType +
+                                               "' for appender '") + appenderName + "'");
+        }
+
+        appender->setLayout(layout);
+    }
+
+    /**
+     * Get the categories contained within the map of properties.  Since
+     * the category looks something like "category.xxxxx.yyy.zzz", we need
+     * to search the entire map to figure out which properties are category
+     * listings.  Seems like there might be a more elegant solution.
+     */
+    void PropertyConfiguratorImpl::getCategories(std::vector& categories) const {
+        categories.clear();
+
+        // add the root category first
+        categories.push_back(std::string("rootCategory"));
+
+        // then look for "category."
+        std::string prefix("category");
+        Properties::const_iterator from = _properties.lower_bound(prefix + '.');
+        Properties::const_iterator to = _properties.lower_bound(prefix + (char)('.' + 1)); 
+        for (Properties::const_iterator iter = from; iter != to; iter++) {
+            categories.push_back((*iter).first.substr(prefix.size() + 1));
+        }
+    }
+}
diff --git a/VrUtils/log4cpp/src/PropertyConfiguratorImpl.hh b/VrUtils/log4cpp/src/PropertyConfiguratorImpl.hh
new file mode 100644
index 0000000..2091bdf
--- /dev/null
+++ b/VrUtils/log4cpp/src/PropertyConfiguratorImpl.hh
@@ -0,0 +1,96 @@
+/*
+ * PropertyConiguratorImpl.hh
+ *
+ * Copyright 2002, Log4cpp Project. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_PROPERTYCONFIGURATORIMPL_HH
+#define _LOG4CPP_PROPERTYCONFIGURATORIMPL_HH
+
+#include "PortabilityImpl.hh"
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#include "Properties.hh"
+
+namespace log4cpp {
+    
+    class PropertyConfiguratorImpl {
+        public:
+        typedef std::map AppenderMap;
+
+        PropertyConfiguratorImpl();
+        virtual ~PropertyConfiguratorImpl();
+        /**
+         *
+         * @param initFileName
+         * @exception ConfigureFailure if the method encountered a read or
+         * syntax error.
+        */
+        virtual void doConfigure(const std::string& initFileName);
+        /**
+         *
+         * @param in
+         * @exception ConfigureFailure if the method encountered a read or
+         * syntax error.
+         */
+        virtual void doConfigure(std::istream& in);
+
+        protected:
+        /**
+           configure the given category. This includes setting its Priority
+           and adding any Appenders. 
+           @todo setting other properties like 'additivity'.
+           @param categoryname	Name of the category to configure. 
+           The name 'rootCategory' refers to the root Category.
+         * @exception ConfigureFailure if the method encountered a read or
+         * syntax error.
+         **/
+        void configureCategory(const std::string& categoryname);
+
+        /**
+         * Get a list of categories for which we should do the configuration.  This simply
+         * extracts the categories from the map.
+         * @param categories Reference to a list which is to receive the list of categories.
+         */
+        void getCategories(std::vector& categories) const;
+
+        void instantiateAllAppenders();
+
+        /**
+         * Intantiate and configure the appender referred to by the given name. This method searches the
+         * map to find all configuration parameters for the appender, and adds the appender
+         * to the given category.  This isn't very general in the sense that it will need to
+         * be modified for each type of appender and layout.  A more general solution would 
+         * be to define an "options" interface for each appender and layout, so that we can 
+         * simply call this method with a list of options instead of needing to know what is 
+         * or is not available.  This would also require some generic way of instantiating an
+         * object for which we have no knowledge.  An "AppenderFactory" could be used which
+         * maps the given type to an actual object class registered with the factory (?? is this
+         * possible?).
+         * @param name	String containing the name of the type of appender to be instantiated.
+         */
+        Appender* instantiateAppender(const std::string& name);
+
+        /**
+         * Method for instantiating and configuring the layouts associated with each
+         * appender.
+         * @param appender	Appender to which we are setting this layout.
+         * @param name	Name in the properties of this appender.
+         */
+        void setLayout(Appender* appender, const std::string& name);
+
+        Properties _properties;
+        AppenderMap _allAppenders;
+    };
+}
+
+#endif // _LOG4CPP_PROPERTIES_HH
+
diff --git a/VrUtils/log4cpp/src/RemoteSyslogAppender.cpp b/VrUtils/log4cpp/src/RemoteSyslogAppender.cpp
new file mode 100644
index 0000000..4cf4246
--- /dev/null
+++ b/VrUtils/log4cpp/src/RemoteSyslogAppender.cpp
@@ -0,0 +1,186 @@
+/*
+ * RemoteSyslogAppender.cpp
+ *
+ * Copyright 2001, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2001, Walter Stroebel. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include "PortabilityImpl.hh"
+
+#ifdef LOG4CPP_HAVE_UNISTD_H
+#    include 
+#endif
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#ifdef WIN32
+#include 
+#else
+#include 
+#include 
+#include 
+#include 
+#endif
+
+namespace log4cpp {
+
+    int RemoteSyslogAppender::toSyslogPriority(Priority::Value priority) {
+        static int priorities[8] = { LOG_EMERG, LOG_ALERT, LOG_CRIT, LOG_ERR,
+                                     LOG_WARNING, LOG_NOTICE, LOG_INFO, 
+                                     LOG_DEBUG };
+        int result;
+
+        priority++;
+        priority /= 100;
+
+        if (priority < 0) {
+            result = LOG_EMERG;
+        } else if (priority > 7) {
+            result = LOG_DEBUG;
+        } else {
+            result = priorities[priority];
+        }
+
+        return result;
+    }
+        
+
+    RemoteSyslogAppender::RemoteSyslogAppender(const std::string& name, 
+                                   const std::string& syslogName, 
+                                   const std::string& relayer,
+                                   int facility,
+                                   int portNumber) : 
+        LayoutAppender(name),
+        _syslogName(syslogName),
+        _relayer(relayer),
+        _facility((facility == -1) ? LOG_USER : facility),
+        _portNumber((portNumber == -1) ? 514 : portNumber),
+        _socket (0),
+        _ipAddr (0),
+        _cludge (0)
+    {
+        open();
+    }
+    
+    RemoteSyslogAppender::~RemoteSyslogAppender() {
+        close();
+#ifdef WIN32
+        if (_cludge) {
+            // we started it, we end it.
+            WSACleanup ();
+        }
+#endif
+    }
+
+    void RemoteSyslogAppender::open() {
+        if (!_ipAddr) {
+            struct hostent *pent = gethostbyname (_relayer.c_str ());
+#ifdef WIN32
+            if (pent == NULL) {
+                if (WSAGetLastError () == WSANOTINITIALISED) {
+                    WSADATA wsaData;
+                    int err;
+ 
+                    err = WSAStartup (0x101, &wsaData );
+                    if (err) {
+                        // loglog("RemoteSyslogAppender: WSAStartup returned %d", err);
+                        return; // fail silently
+                    }
+                    pent = gethostbyname (_relayer.c_str ());
+                    _cludge = 1;
+                } else {
+                    // loglog("RemoteSyslogAppender: gethostbyname returned error");
+                    return; // fail silently
+                }
+            }
+#endif
+            if (pent == NULL) {
+                in_addr_t ip = inet_addr (_relayer.c_str ());
+                pent = gethostbyaddr ((const char *) &ip, sizeof(in_addr_t), AF_INET);
+                if (pent == NULL) {
+                    // loglog("RemoteSyslogAppender: failed to resolve host %s", _relayer.c_str());
+                    return; // fail silently                    
+                }
+            }
+            _ipAddr = *(in_addr_t*)(pent->h_addr); // fixed bug #1579890
+        }
+        // Get a datagram socket.
+        _socket = socket(AF_INET, SOCK_DGRAM, 0);
+        if 
+#ifdef WIN32
+			(_socket == INVALID_SOCKET)
+#else
+			(_socket < 0) 
+#endif
+		{
+            // loglog("RemoteSyslogAppender: failed to open socket");
+            return; // fail silently                    
+        }
+    }
+
+    void RemoteSyslogAppender::close() {
+        if (_socket) {
+#ifdef WIN32
+            closesocket (_socket);
+#else
+            ::close (_socket);
+#endif
+            _socket = 0;
+        }
+    }
+
+    void RemoteSyslogAppender::_append(const LoggingEvent& event) {
+        const std::string message(_getLayout().format(event));
+        size_t messageLength = message.length();
+        char *buf = new char [messageLength + 16];
+        int priority = _facility + toSyslogPriority(event.priority);
+        int preambleLength = sprintf (buf, "<%d>", priority);
+        memcpy (buf + preambleLength, message.data(), messageLength);
+
+        sockaddr_in sain;
+        sain.sin_family = AF_INET;
+        sain.sin_port   = htons (_portNumber);
+        // NO, do NOT use htonl on _ipAddr. Is already in network order.
+        sain.sin_addr.s_addr = _ipAddr;
+
+        while (messageLength > 0) {
+            /* if packet larger than maximum (900 bytes), split
+               into two or more syslog packets. */
+            if (preambleLength + messageLength > 900) {
+                sendto (_socket, buf, 900, 0, (struct sockaddr *) &sain, sizeof (sain));
+                messageLength -= (900 - preambleLength);
+                std::memmove (buf + preambleLength, buf + 900, messageLength);
+                // note: we might need to sleep a bit here
+            } else {
+                sendto (_socket, buf, preambleLength + messageLength, 0, (struct sockaddr *) &sain, sizeof (sain));
+                break;
+            }
+        }
+
+        delete[] buf;
+    }
+
+    bool RemoteSyslogAppender::reopen() {
+        close();
+        open();
+        return true;
+    }
+    
+    std::auto_ptr create_remote_syslog_appender(const FactoryParams& params)
+    {
+       std::string name, syslog_name, relayer;
+       int facility = -1, port_number = -1;
+       params.get_for("remote syslog appender").required("name", name)("syslog_name", syslog_name)("relayer", relayer)
+                                               .optional("facility", facility)("port", port_number);
+       return std::auto_ptr(new RemoteSyslogAppender(name, syslog_name, relayer, facility, port_number));
+    }
+}
diff --git a/VrUtils/log4cpp/src/RollingFileAppender.cpp b/VrUtils/log4cpp/src/RollingFileAppender.cpp
new file mode 100644
index 0000000..3c563a4
--- /dev/null
+++ b/VrUtils/log4cpp/src/RollingFileAppender.cpp
@@ -0,0 +1,111 @@
+/*
+ * RollingFileAppender.cpp
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include "PortabilityImpl.hh"
+#ifdef LOG4CPP_HAVE_IO_H
+#    include 
+#endif
+#ifdef LOG4CPP_HAVE_UNISTD_H
+#    include 
+#endif
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#ifdef LOG4CPP_HAVE_SSTREAM
+#include 
+#include 
+#endif
+
+namespace log4cpp {
+
+    RollingFileAppender::RollingFileAppender(const std::string& name,
+                                             const std::string& fileName, 
+                                             size_t maxFileSize, 
+                                             unsigned int maxBackupIndex,
+                                             bool append,
+                                             mode_t mode) :
+        FileAppender(name, fileName, append, mode),
+        _maxBackupIndex(maxBackupIndex > 0 ? maxBackupIndex : 1),
+        _maxBackupIndexWidth((_maxBackupIndex > 0) ? log10((float)_maxBackupIndex)+1 : 1),
+        _maxFileSize(maxFileSize) {
+    }
+
+    void RollingFileAppender::setMaxBackupIndex(unsigned int maxBackups) { 
+        _maxBackupIndex = maxBackups; 
+        _maxBackupIndexWidth = (_maxBackupIndex > 0) ? log10((float)_maxBackupIndex)+1 : 1;
+    }
+    
+    unsigned int RollingFileAppender::getMaxBackupIndex() const { 
+        return _maxBackupIndex; 
+    }
+
+    void RollingFileAppender::setMaximumFileSize(size_t maxFileSize) {
+        _maxFileSize = maxFileSize;
+    }
+
+    size_t RollingFileAppender::getMaxFileSize() const { 
+        return _maxFileSize; 
+    }
+
+    void RollingFileAppender::rollOver() {
+        ::close(_fd);
+        if (_maxBackupIndex > 0) {
+            std::ostringstream filename_stream;
+        	filename_stream << _fileName << "." << std::setw( _maxBackupIndexWidth ) << std::setfill( '0' ) << _maxBackupIndex << std::ends;
+        	// remove the very last (oldest) file
+        	std::string last_log_filename = filename_stream.str();
+            // std::cout << last_log_filename << std::endl; // removed by request on sf.net #140
+            ::remove(last_log_filename.c_str());
+            
+            // rename each existing file to the consequent one
+            for(unsigned int i = _maxBackupIndex; i > 1; i--) {
+                filename_stream.str(std::string());
+                filename_stream << _fileName << '.' << std::setw( _maxBackupIndexWidth ) << std::setfill( '0' ) << i - 1 << std::ends;  // set padding so the files are listed in order
+                ::rename(filename_stream.str().c_str(), last_log_filename.c_str());
+                last_log_filename = filename_stream.str();
+            }
+            // new file will be numbered 1
+            ::rename(_fileName.c_str(), last_log_filename.c_str());
+        }
+        _fd = ::open(_fileName.c_str(), _flags, _mode);
+    }
+
+    void RollingFileAppender::_append(const LoggingEvent& event) {
+        FileAppender::_append(event);
+        if (-1 != _fd) {
+            off_t offset = ::lseek(_fd, 0, SEEK_END);
+            if (offset < 0) {
+                // XXX we got an error, ignore for now
+            }
+            else {
+                if (static_cast(offset) >= _maxFileSize) {
+                    rollOver();
+                }
+            }
+        }
+    }
+    
+   std::auto_ptr create_roll_file_appender(const FactoryParams& params)
+   {
+      std::string name, filename;
+      bool append = true;
+      mode_t mode = 664;
+      int max_file_size = 0, max_backup_index = 0;
+      params.get_for("roll file appender").required("name", name)("filename", filename)("max_file_size", max_file_size)
+                                                     ("max_backup_index", max_backup_index)
+                                          .optional("append", append)("mode", mode);
+
+      return std::auto_ptr(new RollingFileAppender(name, filename, max_file_size, max_backup_index, append, mode));
+   }
+}
diff --git a/VrUtils/log4cpp/src/SimpleConfigurator.cpp b/VrUtils/log4cpp/src/SimpleConfigurator.cpp
new file mode 100644
index 0000000..82d38fb
--- /dev/null
+++ b/VrUtils/log4cpp/src/SimpleConfigurator.cpp
@@ -0,0 +1,232 @@
+/*
+ * SimpleConfigurator.cpp
+ *
+ * Copyright 2001, Glen Scott. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+#include "PortabilityImpl.hh"
+
+#ifdef LOG4CPP_HAVE_UNISTD_H
+#include 
+#endif
+#ifdef LOG4CPP_HAVE_IO_H
+#    include 
+#endif
+
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#if LOG4CPP_HAVE_SYSLOG
+#include 
+#endif
+#ifndef LOG4CPP_DISABLE_REMOTE_SYSLOG
+#include 
+#endif
+#ifdef WIN32
+#include 
+#endif
+
+namespace log4cpp {
+
+    void SimpleConfigurator::configure(const std::string& initFileName) {
+        std::ifstream initFile(initFileName.c_str());
+        
+        if (!initFile) {
+            throw ConfigureFailure(std::string("Config File ") + initFileName + " does not exist or is unreadable");
+        }
+        
+        configure(initFile);
+    }
+          
+    void SimpleConfigurator::configure(std::istream& initFile) {
+        std::string nextCommand;
+        std::string categoryName;
+        
+        while (initFile >> nextCommand) {
+            /* skip comment lines */
+            if (nextCommand[0] == '#') {
+                std::string dummy;
+                std::getline(initFile, dummy);
+                continue;
+            }
+            /* stop on missing categoryName */
+            if (!(initFile >> categoryName))
+                break;
+
+            log4cpp::Category& category =
+                (categoryName.compare("root") == 0) ?
+                log4cpp::Category::getRoot() :
+                log4cpp::Category::getInstance(categoryName);
+            
+            if (nextCommand.compare("appender") == 0) {
+                std::string layout;
+                std::string appenderName;
+                
+                if (initFile >> layout >> appenderName) {
+                    log4cpp::Appender* appender;
+                    if (appenderName.compare("file") == 0) {
+                        std::string logFileName;
+                        if (!(initFile >> logFileName)) {
+                            throw ConfigureFailure("Missing filename for log file logging configuration file for category: " + categoryName);
+                        }
+                        appender = new log4cpp::FileAppender(categoryName, logFileName);
+                    }
+                    else if (appenderName.compare("rolling") == 0) {
+                        std::string logFileName;
+                        size_t maxFileSize;
+                        unsigned int maxBackupIndex=1;
+                        if (!(initFile >> logFileName)) {
+                            throw ConfigureFailure("Missing filename for log file logging configuration file for category: " + categoryName);
+                        }
+                        if (!(initFile >> maxFileSize)) {
+                            throw ConfigureFailure("Missing maximum size for log file logging configuration file for category: " + categoryName);
+                        }
+                        if (!(initFile >> maxBackupIndex)) {
+                            throw ConfigureFailure("Missing maximum backup index for log file logging configuration file for category: " + categoryName);
+                        }
+                        appender = new log4cpp::RollingFileAppender(categoryName, logFileName, maxFileSize, maxBackupIndex);
+                    }
+                    else if (appenderName.compare("dailyrolling") == 0) {
+                        std::string logFileName;
+                        unsigned int maxKeepDays=1;
+                        if (!(initFile >> logFileName)) {
+                            throw ConfigureFailure("Missing filename for log file logging configuration file for category: " + categoryName);
+                        }
+                        if (!(initFile >> maxKeepDays)) {
+                            throw ConfigureFailure("Missing maximum keep days for log file logging configuration file for category: " + categoryName);
+                        }
+                        appender = new log4cpp::DailyRollingFileAppender(categoryName, logFileName, maxKeepDays);
+                    }
+                    else if (appenderName.compare("console") == 0) {
+                        appender =
+                            new log4cpp::OstreamAppender(categoryName, &std::cout);
+                    }
+                    else if (appenderName.compare("stdout") == 0) {
+                        appender =
+                            new log4cpp::FileAppender(categoryName, ::dup(fileno(stdout)));
+                    }
+                    else if (appenderName.compare("stderr") == 0) {
+                        appender =
+                            new log4cpp::FileAppender(categoryName, ::dup(fileno(stderr)));
+                    }
+#if LOG4CPP_HAVE_SYSLOG
+                    else if (appenderName.compare("syslog") == 0) {
+                        std::string syslogName;
+                        int facility;
+                        if (!(initFile >> syslogName)) {
+                            throw ConfigureFailure("Missing syslogname for SysLogAppender for category: " + categoryName);
+                        }
+                        if (!(initFile >> facility)) {
+                            facility = LOG_USER;
+                        } else {
+                            // * 8
+                            facility *= 8;
+                        }
+                        appender =
+                            new log4cpp::SyslogAppender(categoryName, syslogName, facility);
+                    } 
+#endif
+#if defined(WIN32)
+                    else if (appenderName.compare("nteventlog") == 0) {
+                        std::string source;
+                        if (!(initFile >> source)) {
+                            throw ConfigureFailure("Missing source for NTEventLogAppender for category: " + categoryName);
+                        }
+                        appender =
+                            new log4cpp::NTEventLogAppender(categoryName, source);
+                    } 
+#endif
+#if !defined(LOG4CPP_DISABLE_REMOTE_SYSLOG)
+                    else if (appenderName.compare("remotesyslog") == 0) {
+                        std::string syslogName;
+                        std::string relayer;
+                        int facility;
+                        int portNumber;
+                        if (!(initFile >> syslogName)) {
+                            throw ConfigureFailure("Missing syslogname for SysLogAppender for category: " + categoryName);
+                        }
+                        if (!(initFile >> relayer)) {
+                            throw ConfigureFailure("Missing syslog host for SysLogAppender for category: " + categoryName);
+                        }
+                        if (!(initFile >> facility)) {
+                            facility = LOG_USER;
+                        }
+                        if (!(initFile >> portNumber)) {
+                            portNumber = 514;
+                        }
+                        appender =
+                            new log4cpp::RemoteSyslogAppender(categoryName, syslogName, relayer, facility, portNumber);
+                    }
+#endif // LOG4CPP_DISABLE_REMOTE_SYSLOG
+                    else {
+                        throw ConfigureFailure("Invalid appender name (" +
+                                               appenderName +
+                                               ") in logging configuration file for category: " +
+                                               categoryName);
+                    }
+                    if (layout.compare("basic") == 0)
+                        appender->setLayout(new log4cpp::BasicLayout());
+                    else if (layout.compare("simple") == 0)
+                        appender->setLayout(new log4cpp::SimpleLayout());
+                    else if (layout.compare("pattern") == 0) {
+                        log4cpp::PatternLayout *layout =
+                            new log4cpp::PatternLayout();
+			initFile >> std::ws; // skip whitespace
+                        char pattern[1000];
+                        initFile.getline(pattern, 1000);
+                        layout->setConversionPattern(std::string(pattern));
+			appender->setLayout(layout);
+                    }
+                    else {
+                        throw ConfigureFailure("Invalid layout (" + layout +
+                                               ") in logging configuration file for category: " +
+                                               categoryName);
+                    }
+                    category.addAppender(appender);
+                }
+            }
+            else if (nextCommand.compare("priority") == 0) {
+                std::string priority;
+                if (!(initFile >> priority)) {
+                    throw ConfigureFailure("Missing priority in logging configuration file for category: " + categoryName);
+                }
+                
+                try {
+                    category.setPriority(log4cpp::Priority::getPriorityValue(priority));
+                } catch(std::invalid_argument) {
+                    throw ConfigureFailure("Invalid priority ("+priority+") in logging configuration file for category: "+categoryName);
+                }
+            }
+            else if (nextCommand.compare("category") == 0) {
+                /*
+                  This command means we should "refer" to the category
+                  (in order to have it created). We've already done this
+                  in common setup code for all commands.
+                */
+            }
+            else {
+                throw ConfigureFailure("Invalid format in logging configuration file. Command: " + nextCommand);
+            }
+        }
+    }
+}
+
+
+
diff --git a/VrUtils/log4cpp/src/SimpleLayout.cpp b/VrUtils/log4cpp/src/SimpleLayout.cpp
new file mode 100644
index 0000000..632a17c
--- /dev/null
+++ b/VrUtils/log4cpp/src/SimpleLayout.cpp
@@ -0,0 +1,42 @@
+/*
+ * SimpleLayout.cpp
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include "PortabilityImpl.hh"
+#include 
+#include 
+#include 
+#ifdef LOG4CPP_HAVE_SSTREAM
+#include 
+#endif
+
+#include 
+#include 
+
+namespace log4cpp {
+
+    SimpleLayout::SimpleLayout() {
+    }
+    
+    SimpleLayout::~SimpleLayout() {
+    }
+
+    std::string SimpleLayout::format(const LoggingEvent& event) {
+        std::ostringstream message;
+
+        const std::string& priorityName = Priority::getPriorityName(event.priority);
+		message.width(Priority::MESSAGE_SIZE);message.setf(std::ios::left);
+		message << priorityName << ": " << event.message << std::endl;
+        return message.str();
+    }
+
+   std::auto_ptr create_simple_layout(const FactoryParams& params)
+   {
+      return std::auto_ptr(new SimpleLayout);
+   }
+}
diff --git a/VrUtils/log4cpp/src/SmtpAppender.cpp b/VrUtils/log4cpp/src/SmtpAppender.cpp
new file mode 100644
index 0000000..b526cd4
--- /dev/null
+++ b/VrUtils/log4cpp/src/SmtpAppender.cpp
@@ -0,0 +1,186 @@
+/*
+ * Copyright 2002, Log4cpp Project. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#if defined(LOG4CPP_HAVE_BOOST)
+#include 
+#if BOOST_VERSION >= 103500
+
+#define LOG4CPP_HAVE_INT64_T
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+namespace log4cpp
+{
+   void sender_shutdown();
+
+   struct SmptAppender::mail_params
+   {
+      mail_params(const std::string& host,
+                  const std::string& from,
+                  const std::string& to,
+                  const std::string& subject) : host_(host), from_(from), to_(to), subject_(subject)
+      {
+      }
+
+      std::string host_;
+      std::string from_;
+      std::string to_;
+      std::string subject_;
+   };
+
+   namespace
+   {
+      struct sender : public boost::noncopyable
+      {
+         sender();
+         static sender& instance();
+         void shutdown();
+         static sender* instance_;
+         void send(const SmptAppender::mail_params& mp, const LoggingEvent& event);
+         void operator()();
+         typedef std::list > mails_t;
+
+         boost::mutex mails_mutex_;
+         boost::condition data_condition_;
+         mails_t mails_;
+         std::auto_ptr sender_thread_;
+         volatile bool should_exit_;
+      };
+      
+      sender* sender::instance_ = 0;
+      boost::once_flag sender_once = BOOST_ONCE_INIT;
+      
+      sender::sender() : should_exit_(false)
+      {
+         sender_thread_.reset(new boost::thread(boost::ref(*this)));   
+         HierarchyMaintainer::getDefaultMaintainer().register_shutdown_handler(&sender_shutdown);
+      }
+
+      void create_sender()
+      {
+         sender::instance_ = new sender;
+      }
+
+      sender& sender::instance()
+      {
+         boost::call_once(&create_sender, sender_once);
+         return *instance_;
+      }
+
+      void sender::shutdown()
+      {
+         {boost::mutex::scoped_lock lk(mails_mutex_);
+            should_exit_ = true;
+            data_condition_.notify_all();
+         }
+
+         sender_thread_->join();
+         delete instance_;
+      }
+
+      void sender::send(const SmptAppender::mail_params& mp, const LoggingEvent& event)
+      {
+         boost::mutex::scoped_lock lk(mails_mutex_);
+         mails_.push_back(mails_t::value_type(mp, event));
+         data_condition_.notify_all();
+      }
+      
+      void sender::operator()()
+      {
+         while(!should_exit_)
+         {
+            mails_t::iterator i;
+            
+            {boost::mutex::scoped_lock lk(mails_mutex_);
+               if (should_exit_ && mails_.empty())
+                  return;               
+
+               if (mails_.empty())
+               {
+                  data_condition_.wait(lk);
+                  if (should_exit_ && mails_.empty())
+                     return;
+               }
+
+               i = mails_.begin();
+            }
+            
+            try
+            {
+               boost::asio::ip::tcp::iostream s;
+               s.exceptions(std::ios::failbit | std::ios::eofbit | std::ios::badbit);
+               s.connect(i->first.host_, "25");
+               std::string buf;
+               std::getline(s, buf);
+               s << "HELO test\xd\xa" << std::flush;
+               std::getline(s, buf);
+               s << "MAIL FROM:" << i->first.from_<< "\xd\xa" << std::flush;
+               std::getline(s, buf);
+               s << "RCPT TO:" << i->first.to_ << "\xd\xa" << std::flush;
+               std::getline(s, buf);
+               s << "DATA\xd\xa" << std::flush;
+               std::getline(s, buf);
+               s << "Subject: " << i->first.subject_ << "\xd\xa""Content-Transfer-Encoding: 8bit\xd\xa\xd\xa"
+                  << i->second.message << "\xd\xa" ".\xd\xa" << std::flush;
+               std::getline(s, buf);
+               s << "QUIT\xd\xa" << std::flush;
+               std::getline(s, buf);
+            }
+            catch(const std::exception& e)
+            {
+               std::cout << e.what();
+            }
+            
+            {boost::mutex::scoped_lock lk(mails_mutex_);
+               mails_.erase(i);
+            }
+         }
+      }
+   }
+
+   void sender_shutdown()
+   {
+      sender::instance().shutdown();
+   }
+
+   SmptAppender::SmptAppender(const std::string& name, 
+                              const std::string& host, 
+                              const std::string& from,
+                              const std::string& to, 
+                              const std::string& subject) : LayoutAppender(name), 
+                                                            mail_params_(new mail_params(host, from, to, subject))
+                                                            
+   {
+   }
+
+   void SmptAppender::_append(const LoggingEvent& event)
+   {
+      sender::instance().send(*mail_params_, event);
+   }
+   
+   SmptAppender::~SmptAppender()
+   {
+      delete mail_params_;
+   }
+
+   std::auto_ptr create_smtp_appender(const FactoryParams& params)
+   {
+      std::string name, host, from, to, subject;
+      params.get_for("SMTP appender").required("name", name)("host", host)("from", from)
+                                              ("to", to)("subject", subject);
+      return std::auto_ptr(new SmptAppender(name, host, from, to, subject));
+   }
+}
+#endif // BOOST_VERSION >= 103500
+#endif // LOG4CPP_HAS_BOOST
diff --git a/VrUtils/log4cpp/src/StringQueueAppender.cpp b/VrUtils/log4cpp/src/StringQueueAppender.cpp
new file mode 100644
index 0000000..48593ee
--- /dev/null
+++ b/VrUtils/log4cpp/src/StringQueueAppender.cpp
@@ -0,0 +1,57 @@
+/*
+ * StringQueueAppender.cpp
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include "PortabilityImpl.hh"
+#include 
+
+namespace log4cpp {
+
+    StringQueueAppender::StringQueueAppender(const std::string& name) : 
+        LayoutAppender(name) {
+    }
+    
+    StringQueueAppender::~StringQueueAppender() {
+        close();
+    }
+
+    void StringQueueAppender::close() {
+        // empty
+    }
+
+    void StringQueueAppender::_append(const LoggingEvent& event) {
+        _queue.push(_getLayout().format(event));
+    }
+
+    bool StringQueueAppender::reopen() {
+        return true;
+    }      
+
+    std::queue& StringQueueAppender::getQueue() {
+        return _queue;
+    }
+
+    const std::queue& StringQueueAppender::getQueue() const {
+        return _queue;
+    }
+
+    size_t StringQueueAppender::queueSize() const {
+        return getQueue().size();
+    }
+
+    std::string StringQueueAppender::popMessage() {        
+        std::string message;
+
+        if (!_queue.empty()) {
+            message = _queue.front();
+            _queue.pop();
+        }
+
+        return message;
+    }
+}
diff --git a/VrUtils/log4cpp/src/StringUtil.cpp b/VrUtils/log4cpp/src/StringUtil.cpp
new file mode 100644
index 0000000..74e7222
--- /dev/null
+++ b/VrUtils/log4cpp/src/StringUtil.cpp
@@ -0,0 +1,98 @@
+/*
+ * StringUtil.cpp
+ *
+ * Copyright 2002, Log4cpp Project. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+#include "StringUtil.hh"
+#include 
+#include 
+
+#if defined(_MSC_VER)
+    #define VSNPRINTF _vsnprintf
+#else
+#ifdef LOG4CPP_HAVE_SNPRINTF
+    #define VSNPRINTF vsnprintf
+#else
+/* use alternative snprintf() from http://www.ijs.si/software/snprintf/ */
+
+#define HAVE_SNPRINTF
+#define PREFER_PORTABLE_SNPRINTF
+
+#include 
+#include 
+
+extern "C" {
+#include "snprintf.c"
+}
+
+#define VSNPRINTF portable_vsnprintf
+
+#endif // LOG4CPP_HAVE_SNPRINTF
+#endif // _MSC_VER
+
+namespace log4cpp {
+
+    std::string StringUtil::vform(const char* format, va_list args) {
+        size_t size = 1024;
+        char* buffer = new char[size];
+            
+        while (1) {
+            va_list args_copy;
+
+#if defined(_MSC_VER) || defined(__BORLANDC__)
+            args_copy = args;
+#else
+            va_copy(args_copy, args);
+#endif
+
+            int n = VSNPRINTF(buffer, size, format, args_copy);
+
+            va_end(args_copy);
+                
+            // If that worked, return a string.
+            if ((n > -1) && (static_cast(n) < size)) {
+                std::string s(buffer);
+                delete [] buffer;
+                return s;
+            }
+                
+            // Else try again with more space.
+            size = (n > -1) ?
+                n + 1 :   // ISO/IEC 9899:1999
+                size * 2; // twice the old size
+                
+            delete [] buffer;
+            buffer = new char[size];
+        }
+    }
+
+    std::string StringUtil::trim(const std::string& s) {
+        static const char* whiteSpace = " \t\r\n";
+
+        // test for null string
+        if(s.empty())
+            return s;
+
+        // find first non-space character
+        std::string::size_type b = s.find_first_not_of(whiteSpace);
+        if(b == std::string::npos) // No non-spaces
+            return "";
+
+        // find last non-space character
+        std::string::size_type e = s.find_last_not_of(whiteSpace);
+
+        // return the remaining characters
+        return std::string(s, b, e - b + 1);
+    }
+
+    unsigned int StringUtil::split(std::vector& v,
+                                   const std::string& s,
+                                   char delimiter, unsigned int maxSegments) {
+        v.clear();
+        std::back_insert_iterator > it(v);
+        return split(it, s, delimiter, maxSegments);
+    }
+
+}
diff --git a/VrUtils/log4cpp/src/StringUtil.hh b/VrUtils/log4cpp/src/StringUtil.hh
new file mode 100644
index 0000000..b279642
--- /dev/null
+++ b/VrUtils/log4cpp/src/StringUtil.hh
@@ -0,0 +1,84 @@
+/*
+ * StringUtil.hh
+ *
+ * Copyright 2002, Log4cpp Project. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifndef _LOG4CPP_STRINGUTIL_HH
+#define _LOG4CPP_STRINGUTIL_HH
+
+#include "PortabilityImpl.hh"
+#include 
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+
+    class StringUtil {
+        public:
+
+        /**
+           Returns a string contructed from the a format specifier
+           and a va_list of arguments, analogously to vprintf(3).
+           @param format the format specifier.
+           @param args the va_list of arguments.
+        **/
+        static std::string vform(const char* format, va_list args);
+
+        /**
+           Returns a string identical to the given string but without leading
+           or trailing HTABs or spaces.
+        **/
+        static std::string trim(const std::string& s);
+
+        /**
+           splits a string into a vector of string segments based on the
+           given delimiter.
+           @param v The vector in which the segments will be stored. The vector
+           will be emptied before storing the segments
+           @param s The string to split into segments.
+           @param delimiter The delimiter character
+           @param maxSegments the maximum number of segments. Upon return
+           v.size() <= maxSegments.  The string is scanned from left to right
+           so v[maxSegments - 1] may contain a string containing the delimiter
+           character.
+	   @return The actual number of segments (limited by maxSegments).
+        **/
+        static unsigned int split(std::vector& v, 
+				  const std::string& s, char delimiter,
+				  unsigned int maxSegments = INT_MAX);
+        /**
+           splits a string into string segments based on the given delimiter
+           and assigns the segments through an output_iterator.
+           @param output The output_iterator through which to assign the string
+           segments. Typically this will be a back_insertion_iterator.
+           @param s The string to split into segments.
+           @param delimiter The delimiter character
+           @param maxSegments The maximum number of segments.
+           @return The actual number of segments (limited by maxSegments).
+        **/
+        template static unsigned int split(T& output,
+                const std::string& s, char delimiter,
+                unsigned int maxSegments = INT_MAX) {
+            std::string::size_type left = 0;
+            unsigned int i;
+            for(i = 1; i < maxSegments; i++) {
+                std::string::size_type right = s.find(delimiter, left);
+                if (right == std::string::npos) {
+                    break;
+                }
+                *output++ = s.substr(left, right - left);
+                left = right + 1;
+            }
+            
+            *output++ = s.substr(left);
+            return i;
+        }
+    };
+}
+
+#endif // _LOG4CPP_STRINGUTIL_HH
+
diff --git a/VrUtils/log4cpp/src/SyslogAppender.cpp b/VrUtils/log4cpp/src/SyslogAppender.cpp
new file mode 100644
index 0000000..e615608
--- /dev/null
+++ b/VrUtils/log4cpp/src/SyslogAppender.cpp
@@ -0,0 +1,88 @@
+/*
+ * SyslogAppender.cpp
+ *
+ * Copyright 2000, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2000, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include "PortabilityImpl.hh"
+#if LOG4CPP_HAVE_SYSLOG
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+namespace log4cpp {
+
+    int SyslogAppender::toSyslogPriority(Priority::Value priority) {
+        static int priorities[8] = { LOG_EMERG, LOG_ALERT, LOG_CRIT, LOG_ERR,
+                                     LOG_WARNING, LOG_NOTICE, LOG_INFO, 
+                                     LOG_DEBUG };
+        int result;
+
+        priority++;
+        priority /= 100;
+
+        if (priority < 0) {
+            result = LOG_EMERG;
+        } else if (priority > 7) {
+            result = LOG_DEBUG;
+        } else {
+            result = priorities[priority];
+        }
+
+        return result;
+    }
+        
+
+    SyslogAppender::SyslogAppender(const std::string& name, 
+                                   const std::string& syslogName, 
+                                   int facility) : 
+        LayoutAppender(name),
+        _syslogName(syslogName),
+        _facility(facility) 
+    {
+        open();
+    }
+    
+    SyslogAppender::~SyslogAppender() {
+        close();
+    }
+
+    void SyslogAppender::open() {
+        openlog(_syslogName.c_str(), 0, _facility);
+    }
+
+    void SyslogAppender::close() {
+        ::closelog();
+    }
+
+    void SyslogAppender::_append(const LoggingEvent& event) {
+        std::string message(_getLayout().format(event));
+        int priority = toSyslogPriority(event.priority);
+        ::syslog(priority | _facility, "%s", message.c_str());
+    }
+
+    bool SyslogAppender::reopen() {
+        close();
+        open();
+        return true;
+    }
+    
+    std::auto_ptr create_syslog_appender(const FactoryParams& params)
+    {
+       std::string name, syslog_name;
+       int facility = 0;
+       params.get_for("syslog appender").required("name", name)("syslog_name", syslog_name)
+                                        .optional("facility", facility);
+       return std::auto_ptr(new SyslogAppender(name, syslog_name, facility));
+    }
+}
+
+#endif // LOG4CPP_HAVE_SYSLOG
diff --git a/VrUtils/log4cpp/src/TimeStamp.cpp b/VrUtils/log4cpp/src/TimeStamp.cpp
new file mode 100644
index 0000000..c6df805
--- /dev/null
+++ b/VrUtils/log4cpp/src/TimeStamp.cpp
@@ -0,0 +1,53 @@
+/*
+ * TimeStamp.cpp
+ *
+ * Copyright 2001, LifeLine Networks BV (www.lifeline.nl). All rights reserved.
+ * Copyright 2001, Bastiaan Bakker. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include 
+
+#include 
+
+#ifdef LOG4CPP_HAVE_GETTIMEOFDAY
+#include 
+#else
+#ifdef LOG4CPP_HAVE_FTIME
+#include 
+#else
+#include 
+#endif
+#endif
+
+namespace log4cpp {
+
+    LOG4CPP_EXPORT TimeStamp TimeStamp::_startStamp;
+
+    TimeStamp::TimeStamp() {
+#ifdef LOG4CPP_HAVE_GETTIMEOFDAY
+        struct timeval tv;
+        ::gettimeofday(&tv, NULL);
+        _seconds = tv.tv_sec;
+        _microSeconds = tv.tv_usec;
+#else
+#ifdef LOG4CPP_HAVE_FTIME
+        struct timeb tb;
+        ::ftime(&tb);
+        _seconds = tb.time;
+        _microSeconds = 1000 * tb.millitm;
+#else
+        _seconds = ::time(NULL);
+        _microSeconds = 0;
+#endif
+#endif
+    }
+
+    TimeStamp::TimeStamp(unsigned int seconds, unsigned int microSeconds) :
+        _seconds(seconds),
+        _microSeconds(microSeconds) {
+    }
+}
+
+
diff --git a/VrUtils/log4cpp/src/TriggeringEventEvaluatorFactory.cpp b/VrUtils/log4cpp/src/TriggeringEventEvaluatorFactory.cpp
new file mode 100644
index 0000000..203e966
--- /dev/null
+++ b/VrUtils/log4cpp/src/TriggeringEventEvaluatorFactory.cpp
@@ -0,0 +1,50 @@
+/*
+ * Copyright 2002, Log4cpp Project. All rights reserved.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#include 
+#include 
+
+namespace log4cpp
+{
+   static TriggeringEventEvaluatorFactory* evaluators_factory_ = 0;
+   std::auto_ptr create_level_evaluator(const FactoryParams& params);
+
+   TriggeringEventEvaluatorFactory& TriggeringEventEvaluatorFactory::getInstance()
+   {
+      if (!evaluators_factory_)
+      {
+         std::auto_ptr af(new TriggeringEventEvaluatorFactory);
+         af->registerCreator("level", &create_level_evaluator);
+         evaluators_factory_ = af.release();
+      }
+
+      return *evaluators_factory_;
+   }
+
+   void TriggeringEventEvaluatorFactory::registerCreator(const std::string& class_name, create_function_t create_function)
+   {
+      const_iterator i = creators_.find(class_name);
+      if (i != creators_.end())
+         throw std::invalid_argument("Creator for Triggering event evaluator with type name '" + class_name + "' allready registered");
+
+      creators_[class_name] = create_function;
+   }
+
+   std::auto_ptr TriggeringEventEvaluatorFactory::create(const std::string& class_name, const params_t& params)
+   {
+      const_iterator i = creators_.find(class_name);
+      if (i == creators_.end())
+         throw std::invalid_argument("There is no triggering event evaluator with type name '" + class_name + "'");
+
+      return (*i->second)(params);
+   }
+
+   bool TriggeringEventEvaluatorFactory::registered(const std::string& class_name) const
+   {
+      return creators_.end() != creators_.find(class_name);
+   }
+}
+
diff --git a/VrUtils/log4cpp/src/Win32DebugAppender.cpp b/VrUtils/log4cpp/src/Win32DebugAppender.cpp
new file mode 100644
index 0000000..1b8d93b
--- /dev/null
+++ b/VrUtils/log4cpp/src/Win32DebugAppender.cpp
@@ -0,0 +1,56 @@
+/*
+ * Win32DebugAppender.cpp
+ *
+ * Copyright 2002, the Log4cpp project.
+ *
+ * See the COPYING file for the terms of usage and distribution.
+ */
+
+#ifdef WIN32    // only available on Win32
+
+#include "PortabilityImpl.hh"
+#ifdef LOG4CPP_HAVE_IO_H
+#    include 
+#endif
+
+#include 
+#include 
+
+#include 
+#include "log4cpp/Category.hh"
+#include "log4cpp/Win32DebugAppender.hh"
+#include 
+#include 
+
+namespace log4cpp {
+
+    Win32DebugAppender::Win32DebugAppender(const std::string& name) : 
+            LayoutAppender(name) {
+    }
+    
+    Win32DebugAppender::~Win32DebugAppender() {
+        close();
+    }
+
+    void Win32DebugAppender::close() {
+    }
+
+    void Win32DebugAppender::_append(const LoggingEvent& event) {
+        std::string message(_getLayout().format(event));
+    #ifdef __WIN_ROS__
+                ::OutputDebugString((LPCSTR)message.c_str());
+    #else 
+                ::OutputDebugString((LPCWSTR)message.c_str());
+    #endif
+    }
+
+    std::auto_ptr create_win32_debug_appender(const FactoryParams& params)
+    {
+       std::string name;
+       params.get_for("win32 debug appender").required("name", name);
+       
+       return std::auto_ptr(new Win32DebugAppender(name));
+    }
+}
+
+#endif  // WIN32
diff --git a/VrUtils/log4cpp/src/snprintf.c b/VrUtils/log4cpp/src/snprintf.c
new file mode 100644
index 0000000..f33fe17
--- /dev/null
+++ b/VrUtils/log4cpp/src/snprintf.c
@@ -0,0 +1,1025 @@
+/*
+ * snprintf.c - a portable implementation of snprintf
+ *
+ * AUTHOR
+ *   Mark Martinec , April 1999.
+ *
+ *   Copyright 1999, Mark Martinec. All rights reserved.
+ *
+ * TERMS AND CONDITIONS
+ *   This program is free software; you can redistribute it and/or modify
+ *   it under the terms of the "Frontier Artistic License" which comes
+ *   with this Kit.
+ *
+ *   This program 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 Frontier Artistic License for more details.
+ *
+ *   You should have received a copy of the Frontier Artistic License
+ *   with this Kit in the file named LICENSE.txt .
+ *   If not, I'll be glad to provide one.
+ *
+ * FEATURES
+ * - careful adherence to specs regarding flags, field width and precision;
+ * - good performance for large string handling (large format, large
+ *   argument or large paddings). Performance is similar to system's sprintf
+ *   and in several cases significantly better (make sure you compile with
+ *   optimizations turned on, tell the compiler the code is strict ANSI
+ *   if necessary to give it more freedom for optimizations);
+ * - return value semantics per ISO/IEC 9899:1999 ("ISO C99");
+ * - written in standard ISO/ANSI C - requires an ANSI C compiler.
+ *
+ * SUPPORTED CONVERSION SPECIFIERS AND DATA TYPES
+ *
+ * This snprintf only supports the following conversion specifiers:
+ * s, c, d, u, o, x, X, p  (and synonyms: i, D, U, O - see below)
+ * with flags: '-', '+', ' ', '0' and '#'.
+ * An asterisk is supported for field width as well as precision.
+ *
+ * Length modifiers 'h' (short int), 'l' (long int),
+ * and 'll' (long long int) are supported.
+ * NOTE:
+ *   If macro SNPRINTF_LONGLONG_SUPPORT is not defined (default) the
+ *   length modifier 'll' is recognized but treated the same as 'l',
+ *   which may cause argument value truncation! Defining
+ *   SNPRINTF_LONGLONG_SUPPORT requires that your system's sprintf also
+ *   handles length modifier 'll'.  long long int is a language extension
+ *   which may not be portable.
+ *
+ * Conversion of numeric data (conversion specifiers d, u, o, x, X, p)
+ * with length modifiers (none or h, l, ll) is left to the system routine
+ * sprintf, but all handling of flags, field width and precision as well as
+ * c and s conversions is done very carefully by this portable routine.
+ * If a string precision (truncation) is specified (e.g. %.8s) it is
+ * guaranteed the string beyond the specified precision will not be referenced.
+ *
+ * Length modifiers h, l and ll are ignored for c and s conversions (data
+ * types wint_t and wchar_t are not supported).
+ *
+ * The following common synonyms for conversion characters are supported:
+ *   - i is a synonym for d
+ *   - D is a synonym for ld, explicit length modifiers are ignored
+ *   - U is a synonym for lu, explicit length modifiers are ignored
+ *   - O is a synonym for lo, explicit length modifiers are ignored
+ * The D, O and U conversion characters are nonstandard, they are supported
+ * for backward compatibility only, and should not be used for new code.
+ *
+ * The following is specifically NOT supported:
+ *   - flag ' (thousands' grouping character) is recognized but ignored
+ *   - numeric conversion specifiers: f, e, E, g, G and synonym F,
+ *     as well as the new a and A conversion specifiers
+ *   - length modifier 'L' (long double) and 'q' (quad - use 'll' instead)
+ *   - wide character/string conversions: lc, ls, and nonstandard
+ *     synonyms C and S
+ *   - writeback of converted string length: conversion character n
+ *   - the n$ specification for direct reference to n-th argument
+ *   - locales
+ *
+ * It is permitted for str_m to be zero, and it is permitted to specify NULL
+ * pointer for resulting string argument if str_m is zero (as per ISO C99).
+ *
+ * The return value is the number of characters which would be generated
+ * for the given input, excluding the trailing null. If this value
+ * is greater or equal to str_m, not all characters from the result
+ * have been stored in str, output bytes beyond the (str_m-1) -th character
+ * are discarded. If str_m is greater than zero it is guaranteed
+ * the resulting string will be null-terminated.
+ *
+ * NOTE that this matches the ISO C99, OpenBSD, and GNU C library 2.1,
+ * but is different from some older and vendor implementations,
+ * and is also different from XPG, XSH5, SUSv2 specifications.
+ * For historical discussion on changes in the semantics and standards
+ * of snprintf see printf(3) man page in the Linux programmers manual.
+ *
+ * Routines asprintf and vasprintf return a pointer (in the ptr argument)
+ * to a buffer sufficiently large to hold the resulting string. This pointer
+ * should be passed to free(3) to release the allocated storage when it is
+ * no longer needed. If sufficient space cannot be allocated, these functions
+ * will return -1 and set ptr to be a NULL pointer. These two routines are a
+ * GNU C library extensions (glibc).
+ *
+ * Routines asnprintf and vasnprintf are similar to asprintf and vasprintf,
+ * yet, like snprintf and vsnprintf counterparts, will write at most str_m-1
+ * characters into the allocated output string, the last character in the
+ * allocated buffer then gets the terminating null. If the formatted string
+ * length (the return value) is greater than or equal to the str_m argument,
+ * the resulting string was truncated and some of the formatted characters
+ * were discarded. These routines present a handy way to limit the amount
+ * of allocated memory to some sane value.
+ *
+ * AVAILABILITY
+ *   http://www.ijs.si/software/snprintf/
+ *
+ * REVISION HISTORY
+ * 1999-04	V0.9  Mark Martinec
+ *		- initial version, some modifications after comparing printf
+ *		  man pages for Digital Unix 4.0, Solaris 2.6 and HPUX 10,
+ *		  and checking how Perl handles sprintf (differently!);
+ * 1999-04-09	V1.0  Mark Martinec 
+ *		- added main test program, fixed remaining inconsistencies,
+ *		  added optional (long long int) support;
+ * 1999-04-12	V1.1  Mark Martinec 
+ *		- support the 'p' conversion (pointer to void);
+ *		- if a string precision is specified
+ *		  make sure the string beyond the specified precision
+ *		  will not be referenced (e.g. by strlen);
+ * 1999-04-13	V1.2  Mark Martinec 
+ *		- support synonyms %D=%ld, %U=%lu, %O=%lo;
+ *		- speed up the case of long format string with few conversions;
+ * 1999-06-30	V1.3  Mark Martinec 
+ *		- fixed runaway loop (eventually crashing when str_l wraps
+ *		  beyond 2^31) while copying format string without
+ *		  conversion specifiers to a buffer that is too short
+ *		  (thanks to Edwin Young  for
+ *		  spotting the problem);
+ *		- added macros PORTABLE_SNPRINTF_VERSION_(MAJOR|MINOR)
+ *		  to snprintf.h
+ * 2000-02-14	V2.0 (never released) Mark Martinec 
+ *		- relaxed license terms: The Artistic License now applies.
+ *		  You may still apply the GNU GENERAL PUBLIC LICENSE
+ *		  as was distributed with previous versions, if you prefer;
+ *		- changed REVISION HISTORY dates to use ISO 8601 date format;
+ *		- added vsnprintf (patch also independently proposed by
+ *		  Caolan McNamara 2000-05-04, and Keith M Willenson 2000-06-01)
+ * 2000-06-27	V2.1  Mark Martinec 
+ *		- removed POSIX check for str_m<1; value 0 for str_m is
+ *		  allowed by ISO C99 (and GNU C library 2.1) - (pointed out
+ *		  on 2000-05-04 by Caolan McNamara, caolan@ csn dot ul dot ie).
+ *		  Besides relaxed license this change in standards adherence
+ *		  is the main reason to bump up the major version number;
+ *		- added nonstandard routines asnprintf, vasnprintf, asprintf,
+ *		  vasprintf that dynamically allocate storage for the
+ *		  resulting string; these routines are not compiled by default,
+ *		  see comments where NEED_V?ASN?PRINTF macros are defined;
+ *		- autoconf contributed by Caolan McNamara
+ * 2000-10-06	V2.2  Mark Martinec 
+ *		- BUG FIX: the %c conversion used a temporary variable
+ *		  that was no longer in scope when referenced,
+ *		  possibly causing incorrect resulting character;
+ *		- BUG FIX: make precision and minimal field width unsigned
+ *		  to handle huge values (2^31 <= n < 2^32) correctly;
+ *		  also be more careful in the use of signed/unsigned/size_t
+ *		  internal variables - probably more careful than many
+ *		  vendor implementations, but there may still be a case
+ *		  where huge values of str_m, precision or minimal field
+ *		  could cause incorrect behaviour;
+ *		- use separate variables for signed/unsigned arguments,
+ *		  and for short/int, long, and long long argument lengths
+ *		  to avoid possible incompatibilities on certain
+ *		  computer architectures. Also use separate variable
+ *		  arg_sign to hold sign of a numeric argument,
+ *		  to make code more transparent;
+ *		- some fiddling with zero padding and "0x" to make it
+ *		  Linux compatible;
+ *		- systematically use macros fast_memcpy and fast_memset
+ *		  instead of case-by-case hand optimization; determine some
+ *		  breakeven string lengths for different architectures;
+ *		- terminology change: 'format' -> 'conversion specifier',
+ *		  'C9x' -> 'ISO/IEC 9899:1999 ("ISO C99")',
+ *		  'alternative form' -> 'alternate form',
+ *		  'data type modifier' -> 'length modifier';
+ *		- several comments rephrased and new ones added;
+ *		- make compiler not complain about 'credits' defined but
+ *		  not used;
+ */
+
+
+/* Define HAVE_SNPRINTF if your system already has snprintf and vsnprintf.
+ *
+ * If HAVE_SNPRINTF is defined this module will not produce code for
+ * snprintf and vsnprintf, unless PREFER_PORTABLE_SNPRINTF is defined as well,
+ * causing this portable version of snprintf to be called portable_snprintf
+ * (and portable_vsnprintf).
+ */
+/* #define HAVE_SNPRINTF */
+
+/* Define PREFER_PORTABLE_SNPRINTF if your system does have snprintf and
+ * vsnprintf but you would prefer to use the portable routine(s) instead.
+ * In this case the portable routine is declared as portable_snprintf
+ * (and portable_vsnprintf) and a macro 'snprintf' (and 'vsnprintf')
+ * is defined to expand to 'portable_v?snprintf' - see file snprintf.h .
+ * Defining this macro is only useful if HAVE_SNPRINTF is also defined,
+ * but does does no harm if defined nevertheless.
+ */
+/* #define PREFER_PORTABLE_SNPRINTF */
+
+/* Define SNPRINTF_LONGLONG_SUPPORT if you want to support
+ * data type (long long int) and length modifier 'll' (e.g. %lld).
+ * If undefined, 'll' is recognized but treated as a single 'l'.
+ *
+ * If the system's sprintf does not handle 'll'
+ * the SNPRINTF_LONGLONG_SUPPORT must not be defined!
+ *
+ * This is off by default as (long long int) is a language extension.
+ */
+/* #define SNPRINTF_LONGLONG_SUPPORT */
+
+/* Define NEED_SNPRINTF_ONLY if you only need snprintf, and not vsnprintf.
+ * If NEED_SNPRINTF_ONLY is defined, the snprintf will be defined directly,
+ * otherwise both snprintf and vsnprintf routines will be defined
+ * and snprintf will be a simple wrapper around vsnprintf, at the expense
+ * of an extra procedure call.
+ */
+/* #define NEED_SNPRINTF_ONLY */
+
+/* Define NEED_V?ASN?PRINTF macros if you need library extension
+ * routines asprintf, vasprintf, asnprintf, vasnprintf respectively,
+ * and your system library does not provide them. They are all small
+ * wrapper routines around portable_vsnprintf. Defining any of the four
+ * NEED_V?ASN?PRINTF macros automatically turns off NEED_SNPRINTF_ONLY
+ * and turns on PREFER_PORTABLE_SNPRINTF.
+ *
+ * Watch for name conflicts with the system library if these routines
+ * are already present there.
+ *
+ * NOTE: vasprintf and vasnprintf routines need va_copy() from stdarg.h, as
+ * specified by C99, to be able to traverse the same list of arguments twice.
+ * I don't know of any other standard and portable way of achieving the same.
+ * With some versions of gcc you may use __va_copy(). You might even get away
+ * with "ap2 = ap", in this case you must not call va_end(ap2) !
+ *   #define va_copy(ap2,ap) ap2 = ap
+ */
+/* #define NEED_ASPRINTF   */
+/* #define NEED_ASNPRINTF  */
+/* #define NEED_VASPRINTF  */
+/* #define NEED_VASNPRINTF */
+
+
+/* Define the following macros if desired:
+ *   SOLARIS_COMPATIBLE, SOLARIS_BUG_COMPATIBLE,
+ *   HPUX_COMPATIBLE, HPUX_BUG_COMPATIBLE, LINUX_COMPATIBLE,
+ *   DIGITAL_UNIX_COMPATIBLE, DIGITAL_UNIX_BUG_COMPATIBLE,
+ *   PERL_COMPATIBLE, PERL_BUG_COMPATIBLE,
+ *
+ * - For portable applications it is best not to rely on peculiarities
+ *   of a given implementation so it may be best not to define any
+ *   of the macros that select compatibility and to avoid features
+ *   that vary among the systems.
+ *
+ * - Selecting compatibility with more than one operating system
+ *   is not strictly forbidden but is not recommended.
+ *
+ * - 'x'_BUG_COMPATIBLE implies 'x'_COMPATIBLE .
+ *
+ * - 'x'_COMPATIBLE refers to (and enables) a behaviour that is
+ *   documented in a sprintf man page on a given operating system
+ *   and actually adhered to by the system's sprintf (but not on
+ *   most other operating systems). It may also refer to and enable
+ *   a behaviour that is declared 'undefined' or 'implementation specific'
+ *   in the man page but a given implementation behaves predictably
+ *   in a certain way.
+ *
+ * - 'x'_BUG_COMPATIBLE refers to (and enables) a behaviour of system's sprintf
+ *   that contradicts the sprintf man page on the same operating system.
+ *
+ * - I do not claim that the 'x'_COMPATIBLE and 'x'_BUG_COMPATIBLE
+ *   conditionals take into account all idiosyncrasies of a particular
+ *   implementation, there may be other incompatibilities.
+ */
+
+
+
+/* ============================================= */
+/* NO USER SERVICABLE PARTS FOLLOWING THIS POINT */
+/* ============================================= */
+
+#define PORTABLE_SNPRINTF_VERSION_MAJOR 2
+#define PORTABLE_SNPRINTF_VERSION_MINOR 2
+
+#if defined(NEED_ASPRINTF) || defined(NEED_ASNPRINTF) || defined(NEED_VASPRINTF) || defined(NEED_VASNPRINTF)
+# if defined(NEED_SNPRINTF_ONLY)
+# undef NEED_SNPRINTF_ONLY
+# endif
+# if !defined(PREFER_PORTABLE_SNPRINTF)
+# define PREFER_PORTABLE_SNPRINTF
+# endif
+#endif
+
+#if defined(SOLARIS_BUG_COMPATIBLE) && !defined(SOLARIS_COMPATIBLE)
+#define SOLARIS_COMPATIBLE
+#endif
+
+#if defined(HPUX_BUG_COMPATIBLE) && !defined(HPUX_COMPATIBLE)
+#define HPUX_COMPATIBLE
+#endif
+
+#if defined(DIGITAL_UNIX_BUG_COMPATIBLE) && !defined(DIGITAL_UNIX_COMPATIBLE)
+#define DIGITAL_UNIX_COMPATIBLE
+#endif
+
+#if defined(PERL_BUG_COMPATIBLE) && !defined(PERL_COMPATIBLE)
+#define PERL_COMPATIBLE
+#endif
+
+#if defined(LINUX_BUG_COMPATIBLE) && !defined(LINUX_COMPATIBLE)
+#define LINUX_COMPATIBLE
+#endif
+
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+
+#ifdef isdigit
+#undef isdigit
+#endif
+#define isdigit(c) ((c) >= '0' && (c) <= '9')
+
+/* For copying strings longer or equal to 'breakeven_point'
+ * it is more efficient to call memcpy() than to do it inline.
+ * The value depends mostly on the processor architecture,
+ * but also on the compiler and its optimization capabilities.
+ * The value is not critical, some small value greater than zero
+ * will be just fine if you don't care to squeeze every drop
+ * of performance out of the code.
+ *
+ * Small values favor memcpy, large values favor inline code.
+ */
+#if defined(__alpha__) || defined(__alpha)
+#  define breakeven_point   2	/* AXP (DEC Alpha)     - gcc or cc or egcs */
+#endif
+#if defined(__i386__)  || defined(__i386)
+#  define breakeven_point  12	/* Intel Pentium/Linux - gcc 2.96 */
+#endif
+#if defined(__hppa)
+#  define breakeven_point  10	/* HP-PA               - gcc */
+#endif
+#if defined(__sparc__) || defined(__sparc)
+#  define breakeven_point  33	/* Sun Sparc 5         - gcc 2.8.1 */
+#endif
+
+/* some other values of possible interest: */
+/* #define breakeven_point  8 */  /* VAX 4000          - vaxc */
+/* #define breakeven_point 19 */  /* VAX 4000          - gcc 2.7.0 */
+
+#ifndef breakeven_point
+#  define breakeven_point   6	/* some reasonable one-size-fits-all value */
+#endif
+
+#define fast_memcpy(d,s,n) \
+  { register size_t nn = (size_t)(n); \
+    if (nn >= breakeven_point) memcpy((d), (s), nn); \
+    else if (nn > 0) { /* proc call overhead is worth only for large strings*/\
+      register char *dd; register const char *ss; \
+      for (ss=(s), dd=(d); nn>0; nn--) *dd++ = *ss++; } }
+
+#define fast_memset(d,c,n) \
+  { register size_t nn = (size_t)(n); \
+    if (nn >= breakeven_point) memset((d), (int)(c), nn); \
+    else if (nn > 0) { /* proc call overhead is worth only for large strings*/\
+      register char *dd; register const int cc=(int)(c); \
+      for (dd=(d); nn>0; nn--) *dd++ = cc; } }
+
+/* prototypes */
+
+#if defined(NEED_ASPRINTF)
+int asprintf   (char **ptr, const char *fmt, /*args*/ ...);
+#endif
+#if defined(NEED_VASPRINTF)
+int vasprintf  (char **ptr, const char *fmt, va_list ap);
+#endif
+#if defined(NEED_ASNPRINTF)
+int asnprintf  (char **ptr, size_t str_m, const char *fmt, /*args*/ ...);
+#endif
+#if defined(NEED_VASNPRINTF)
+int vasnprintf (char **ptr, size_t str_m, const char *fmt, va_list ap);
+#endif
+
+#if defined(HAVE_SNPRINTF)
+/* declare our portable snprintf  routine under name portable_snprintf  */
+/* declare our portable vsnprintf routine under name portable_vsnprintf */
+#else
+/* declare our portable routines under names snprintf and vsnprintf */
+#define portable_snprintf snprintf
+#if !defined(NEED_SNPRINTF_ONLY)
+#define portable_vsnprintf vsnprintf
+#endif
+#endif
+
+#if !defined(HAVE_SNPRINTF) || defined(PREFER_PORTABLE_SNPRINTF)
+int portable_snprintf(char *str, size_t str_m, const char *fmt, /*args*/ ...);
+#if !defined(NEED_SNPRINTF_ONLY)
+int portable_vsnprintf(char *str, size_t str_m, const char *fmt, va_list ap);
+#endif
+#endif
+
+/* declarations */
+
+static char credits[] = "\n\
+@(#)snprintf.c, v2.2: Mark Martinec, \n\
+@(#)snprintf.c, v2.2: Copyright 1999, Mark Martinec. Frontier Artistic License applies.\n\
+@(#)snprintf.c, v2.2: http://www.ijs.si/software/snprintf/\n";
+
+#if defined(NEED_ASPRINTF)
+int asprintf(char **ptr, const char *fmt, /*args*/ ...) {
+  va_list ap;
+  size_t str_m;
+  int str_l;
+
+  *ptr = NULL;
+  va_start(ap, fmt);                            /* measure the required size */
+  str_l = portable_vsnprintf(NULL, (size_t)0, fmt, ap);
+  va_end(ap);
+  assert(str_l >= 0);        /* possible integer overflow if str_m > INT_MAX */
+  *ptr = (char *) malloc(str_m = (size_t)str_l + 1);
+  if (*ptr == NULL) { errno = ENOMEM; str_l = -1; }
+  else {
+    int str_l2;
+    va_start(ap, fmt);
+    str_l2 = portable_vsnprintf(*ptr, str_m, fmt, ap);
+    va_end(ap);
+    assert(str_l2 == str_l);
+  }
+  return str_l;
+}
+#endif
+
+#if defined(NEED_VASPRINTF)
+int vasprintf(char **ptr, const char *fmt, va_list ap) {
+  size_t str_m;
+  int str_l;
+
+  *ptr = NULL;
+  { va_list ap2;
+    va_copy(ap2, ap);  /* don't consume the original ap, we'll need it again */
+    str_l = portable_vsnprintf(NULL, (size_t)0, fmt, ap2);/*get required size*/
+    va_end(ap2);
+  }
+  assert(str_l >= 0);        /* possible integer overflow if str_m > INT_MAX */
+  *ptr = (char *) malloc(str_m = (size_t)str_l + 1);
+  if (*ptr == NULL) { errno = ENOMEM; str_l = -1; }
+  else {
+    int str_l2 = portable_vsnprintf(*ptr, str_m, fmt, ap);
+    assert(str_l2 == str_l);
+  }
+  return str_l;
+}
+#endif
+
+#if defined(NEED_ASNPRINTF)
+int asnprintf (char **ptr, size_t str_m, const char *fmt, /*args*/ ...) {
+  va_list ap;
+  int str_l;
+
+  *ptr = NULL;
+  va_start(ap, fmt);                            /* measure the required size */
+  str_l = portable_vsnprintf(NULL, (size_t)0, fmt, ap);
+  va_end(ap);
+  assert(str_l >= 0);        /* possible integer overflow if str_m > INT_MAX */
+  if ((size_t)str_l + 1 < str_m) str_m = (size_t)str_l + 1;      /* truncate */
+  /* if str_m is 0, no buffer is allocated, just set *ptr to NULL */
+  if (str_m == 0) {  /* not interested in resulting string, just return size */
+  } else {
+    *ptr = (char *) malloc(str_m);
+    if (*ptr == NULL) { errno = ENOMEM; str_l = -1; }
+    else {
+      int str_l2;
+      va_start(ap, fmt);
+      str_l2 = portable_vsnprintf(*ptr, str_m, fmt, ap);
+      va_end(ap);
+      assert(str_l2 == str_l);
+    }
+  }
+  return str_l;
+}
+#endif
+
+#if defined(NEED_VASNPRINTF)
+int vasnprintf (char **ptr, size_t str_m, const char *fmt, va_list ap) {
+  int str_l;
+
+  *ptr = NULL;
+  { va_list ap2;
+    va_copy(ap2, ap);  /* don't consume the original ap, we'll need it again */
+    str_l = portable_vsnprintf(NULL, (size_t)0, fmt, ap2);/*get required size*/
+    va_end(ap2);
+  }
+  assert(str_l >= 0);        /* possible integer overflow if str_m > INT_MAX */
+  if ((size_t)str_l + 1 < str_m) str_m = (size_t)str_l + 1;      /* truncate */
+  /* if str_m is 0, no buffer is allocated, just set *ptr to NULL */
+  if (str_m == 0) {  /* not interested in resulting string, just return size */
+  } else {
+    *ptr = (char *) malloc(str_m);
+    if (*ptr == NULL) { errno = ENOMEM; str_l = -1; }
+    else {
+      int str_l2 = portable_vsnprintf(*ptr, str_m, fmt, ap);
+      assert(str_l2 == str_l);
+    }
+  }
+  return str_l;
+}
+#endif
+
+/*
+ * If the system does have snprintf and the portable routine is not
+ * specifically required, this module produces no code for snprintf/vsnprintf.
+ */
+#if !defined(HAVE_SNPRINTF) || defined(PREFER_PORTABLE_SNPRINTF)
+
+#if !defined(NEED_SNPRINTF_ONLY)
+int portable_snprintf(char *str, size_t str_m, const char *fmt, /*args*/ ...) {
+  va_list ap;
+  int str_l;
+
+  va_start(ap, fmt);
+  str_l = portable_vsnprintf(str, str_m, fmt, ap);
+  va_end(ap);
+  return str_l;
+}
+#endif
+
+#if defined(NEED_SNPRINTF_ONLY)
+int portable_snprintf(char *str, size_t str_m, const char *fmt, /*args*/ ...) {
+#else
+int portable_vsnprintf(char *str, size_t str_m, const char *fmt, va_list ap) {
+#endif
+
+#if defined(NEED_SNPRINTF_ONLY)
+  va_list ap;
+#endif
+  size_t str_l = 0;
+  const char *p = fmt;
+
+/* In contrast with POSIX, the ISO C99 now says
+ * that str can be NULL and str_m can be 0.
+ * This is more useful than the old:  if (str_m < 1) return -1; */
+
+#if defined(NEED_SNPRINTF_ONLY)
+  va_start(ap, fmt);
+#endif
+  if (!p) p = "";
+  while (*p) {
+    if (*p != '%') {
+   /* if (str_l < str_m) str[str_l++] = *p++;    -- this would be sufficient */
+   /* but the following code achieves better performance for cases
+    * where format string is long and contains few conversions */
+      const char *q = strchr(p+1,'%');
+      size_t n = !q ? strlen(p) : (q-p);
+      if (str_l < str_m) {
+        size_t avail = str_m-str_l;
+        fast_memcpy(str+str_l, p, (n>avail?avail:n));
+      }
+      p += n; str_l += n;
+    } else {
+      const char *starting_p;
+      size_t min_field_width = 0, precision = 0;
+      int zero_padding = 0, precision_specified = 0, justify_left = 0;
+      int alternate_form = 0, force_sign = 0;
+      int space_for_positive = 1; /* If both the ' ' and '+' flags appear,
+                                     the ' ' flag should be ignored. */
+      char length_modifier = '\0';            /* allowed values: \0, h, l, L */
+      char tmp[32];/* temporary buffer for simple numeric->string conversion */
+
+      const char *str_arg;      /* string address in case of string argument */
+      size_t str_arg_l;         /* natural field width of arg without padding
+                                   and sign */
+      unsigned char uchar_arg;
+        /* unsigned char argument value - only defined for c conversion.
+           N.B. standard explicitly states the char argument for
+           the c conversion is unsigned */
+
+      size_t number_of_zeros_to_pad = 0;
+        /* number of zeros to be inserted for numeric conversions
+           as required by the precision or minimal field width */
+
+      size_t zero_padding_insertion_ind = 0;
+        /* index into tmp where zero padding is to be inserted */
+
+      char fmt_spec = '\0';
+        /* current conversion specifier character */
+
+      str_arg = credits;/* just to make compiler happy (defined but not used)*/
+      str_arg = NULL;
+      starting_p = p; p++;  /* skip '%' */
+   /* parse flags */
+      while (*p == '0' || *p == '-' || *p == '+' ||
+             *p == ' ' || *p == '#' || *p == '\'') {
+        switch (*p) {
+        case '0': zero_padding = 1; break;
+        case '-': justify_left = 1; break;
+        case '+': force_sign = 1; space_for_positive = 0; break;
+        case ' ': force_sign = 1;
+     /* If both the ' ' and '+' flags appear, the ' ' flag should be ignored */
+#ifdef PERL_COMPATIBLE
+     /* ... but in Perl the last of ' ' and '+' applies */
+                  space_for_positive = 1;
+#endif
+                  break;
+        case '#': alternate_form = 1; break;
+        case '\'': break;
+        }
+        p++;
+      }
+   /* If the '0' and '-' flags both appear, the '0' flag should be ignored. */
+
+   /* parse field width */
+      if (*p == '*') {
+        int j;
+        p++; j = va_arg(ap, int);
+        if (j >= 0) min_field_width = j;
+        else { min_field_width = -j; justify_left = 1; }
+      } else if (isdigit((int)(*p))) {
+        /* size_t could be wider than unsigned int;
+           make sure we treat argument like common implementations do */
+        unsigned int uj = *p++ - '0';
+        while (isdigit((int)(*p))) uj = 10*uj + (unsigned int)(*p++ - '0');
+        min_field_width = uj;
+      }
+   /* parse precision */
+      if (*p == '.') {
+        p++; precision_specified = 1;
+        if (*p == '*') {
+          int j = va_arg(ap, int);
+          p++;
+          if (j >= 0) precision = j;
+          else {
+            precision_specified = 0; precision = 0;
+         /* NOTE:
+          *   Solaris 2.6 man page claims that in this case the precision
+          *   should be set to 0.  Digital Unix 4.0, HPUX 10 and BSD man page
+          *   claim that this case should be treated as unspecified precision,
+          *   which is what we do here.
+          */
+          }
+        } else if (isdigit((int)(*p))) {
+          /* size_t could be wider than unsigned int;
+             make sure we treat argument like common implementations do */
+          unsigned int uj = *p++ - '0';
+          while (isdigit((int)(*p))) uj = 10*uj + (unsigned int)(*p++ - '0');
+          precision = uj;
+        }
+      }
+   /* parse 'h', 'l' and 'll' length modifiers */
+      if (*p == 'h' || *p == 'l') {
+        length_modifier = *p; p++;
+        if (length_modifier == 'l' && *p == 'l') {   /* double l = long long */
+#ifdef SNPRINTF_LONGLONG_SUPPORT
+          length_modifier = '2';                  /* double l encoded as '2' */
+#else
+          length_modifier = 'l';                 /* treat it as a single 'l' */
+#endif
+          p++;
+        }
+      }
+      fmt_spec = *p;
+   /* common synonyms: */
+      switch (fmt_spec) {
+      case 'i': fmt_spec = 'd'; break;
+      case 'D': fmt_spec = 'd'; length_modifier = 'l'; break;
+      case 'U': fmt_spec = 'u'; length_modifier = 'l'; break;
+      case 'O': fmt_spec = 'o'; length_modifier = 'l'; break;
+      default: break;
+      }
+   /* get parameter value, do initial processing */
+      switch (fmt_spec) {
+      case '%': /* % behaves similar to 's' regarding flags and field widths */
+      case 'c': /* c behaves similar to 's' regarding flags and field widths */
+      case 's':
+        length_modifier = '\0';          /* wint_t and wchar_t not supported */
+     /* the result of zero padding flag with non-numeric conversion specifier*/
+     /* is undefined. Solaris and HPUX 10 does zero padding in this case,    */
+     /* Digital Unix and Linux does not. */
+#if !defined(SOLARIS_COMPATIBLE) && !defined(HPUX_COMPATIBLE)
+        zero_padding = 0;    /* turn zero padding off for string conversions */
+#endif
+        str_arg_l = 1;
+        switch (fmt_spec) {
+        case '%':
+          str_arg = p; break;
+        case 'c': {
+          int j = va_arg(ap, int);
+          uchar_arg = (unsigned char) j;   /* standard demands unsigned char */
+          str_arg = (const char *) &uchar_arg;
+          break;
+        }
+        case 's':
+          str_arg = va_arg(ap, const char *);
+          if (!str_arg) str_arg_l = 0;
+       /* make sure not to address string beyond the specified precision !!! */
+          else if (!precision_specified) str_arg_l = strlen(str_arg);
+       /* truncate string if necessary as requested by precision */
+          else if (precision == 0) str_arg_l = 0;
+          else {
+       /* memchr on HP does not like n > 2^31  !!! */
+            const char *q = (const char*)(memchr(str_arg, '\0',
+                             precision <= 0x7fffffff ? precision : 0x7fffffff));
+            str_arg_l = !q ? precision : (q-str_arg);
+          }
+          break;
+        default: break;
+        }
+        break;
+      case 'd': case 'u': case 'o': case 'x': case 'X': case 'p': {
+        /* NOTE: the u, o, x, X and p conversion specifiers imply
+                 the value is unsigned;  d implies a signed value */
+
+        int arg_sign = 0;
+          /* 0 if numeric argument is zero (or if pointer is NULL for 'p'),
+            +1 if greater than zero (or nonzero for unsigned arguments),
+            -1 if negative (unsigned argument is never negative) */
+
+        int int_arg = 0;  unsigned int uint_arg = 0;
+          /* only defined for length modifier h, or for no length modifiers */
+
+        long int long_arg = 0;  unsigned long int ulong_arg = 0;
+          /* only defined for length modifier l */
+
+        void *ptr_arg = NULL;
+          /* pointer argument value -only defined for p conversion */
+
+#ifdef SNPRINTF_LONGLONG_SUPPORT
+        long long int long_long_arg = 0;
+        unsigned long long int ulong_long_arg = 0;
+          /* only defined for length modifier ll */
+#endif
+        if (fmt_spec == 'p') {
+        /* HPUX 10: An l, h, ll or L before any other conversion character
+         *   (other than d, i, u, o, x, or X) is ignored.
+         * Digital Unix:
+         *   not specified, but seems to behave as HPUX does.
+         * Solaris: If an h, l, or L appears before any other conversion
+         *   specifier (other than d, i, u, o, x, or X), the behavior
+         *   is undefined. (Actually %hp converts only 16-bits of address
+         *   and %llp treats address as 64-bit data which is incompatible
+         *   with (void *) argument on a 32-bit system).
+         */
+#ifdef SOLARIS_COMPATIBLE
+#  ifdef SOLARIS_BUG_COMPATIBLE
+          /* keep length modifiers even if it represents 'll' */
+#  else
+          if (length_modifier == '2') length_modifier = '\0';
+#  endif
+#else
+          length_modifier = '\0';
+#endif
+          ptr_arg = va_arg(ap, void *);
+          if (ptr_arg != NULL) arg_sign = 1;
+        } else if (fmt_spec == 'd') {  /* signed */
+          switch (length_modifier) {
+          case '\0':
+          case 'h':
+         /* It is non-portable to specify a second argument of char or short
+          * to va_arg, because arguments seen by the called function
+          * are not char or short.  C converts char and short arguments
+          * to int before passing them to a function.
+          */
+            int_arg = va_arg(ap, int);
+            if      (int_arg > 0) arg_sign =  1;
+            else if (int_arg < 0) arg_sign = -1;
+            break;
+          case 'l':
+            long_arg = va_arg(ap, long int);
+            if      (long_arg > 0) arg_sign =  1;
+            else if (long_arg < 0) arg_sign = -1;
+            break;
+#ifdef SNPRINTF_LONGLONG_SUPPORT
+          case '2':
+            long_long_arg = va_arg(ap, long long int);
+            if      (long_long_arg > 0) arg_sign =  1;
+            else if (long_long_arg < 0) arg_sign = -1;
+            break;
+#endif
+          }
+        } else {  /* unsigned */
+          switch (length_modifier) {
+          case '\0':
+          case 'h':
+            uint_arg = va_arg(ap, unsigned int);
+            if (uint_arg) arg_sign = 1;
+            break;
+          case 'l':
+            ulong_arg = va_arg(ap, unsigned long int);
+            if (ulong_arg) arg_sign = 1;
+            break;
+#ifdef SNPRINTF_LONGLONG_SUPPORT
+          case '2':
+            ulong_long_arg = va_arg(ap, unsigned long long int);
+            if (ulong_long_arg) arg_sign = 1;
+            break;
+#endif
+          }
+        }
+        str_arg = tmp; str_arg_l = 0;
+     /* NOTE:
+      *   For d, i, u, o, x, and X conversions, if precision is specified,
+      *   the '0' flag should be ignored. This is so with Solaris 2.6,
+      *   Digital UNIX 4.0, HPUX 10, Linux, FreeBSD, NetBSD; but not with Perl.
+      */
+#ifndef PERL_COMPATIBLE
+        if (precision_specified) zero_padding = 0;
+#endif
+        if (fmt_spec == 'd') {
+          if (force_sign && arg_sign >= 0)
+            tmp[str_arg_l++] = space_for_positive ? ' ' : '+';
+         /* leave negative numbers for sprintf to handle,
+            to avoid handling tricky cases like (short int)(-32768) */
+#ifdef LINUX_COMPATIBLE
+        } else if (fmt_spec == 'p' && force_sign && arg_sign > 0) {
+          tmp[str_arg_l++] = space_for_positive ? ' ' : '+';
+#endif
+        } else if (alternate_form) {
+          if (arg_sign != 0 && (fmt_spec == 'x' || fmt_spec == 'X') )
+            { tmp[str_arg_l++] = '0'; tmp[str_arg_l++] = fmt_spec; }
+         /* alternate form should have no effect for p conversion, but ... */
+#ifdef HPUX_COMPATIBLE
+          else if (fmt_spec == 'p'
+         /* HPUX 10: for an alternate form of p conversion,
+          *          a nonzero result is prefixed by 0x. */
+#ifndef HPUX_BUG_COMPATIBLE
+         /* Actually it uses 0x prefix even for a zero value. */
+                   && arg_sign != 0
+#endif
+                  ) { tmp[str_arg_l++] = '0'; tmp[str_arg_l++] = 'x'; }
+#endif
+        }
+        zero_padding_insertion_ind = str_arg_l;
+        if (!precision_specified) precision = 1;   /* default precision is 1 */
+        if (precision == 0 && arg_sign == 0
+#if defined(HPUX_BUG_COMPATIBLE) || defined(LINUX_COMPATIBLE)
+            && fmt_spec != 'p'
+         /* HPUX 10 man page claims: With conversion character p the result of
+          * converting a zero value with a precision of zero is a null string.
+          * Actually HP returns all zeroes, and Linux returns "(nil)". */
+#endif
+        ) {
+         /* converted to null string */
+         /* When zero value is formatted with an explicit precision 0,
+            the resulting formatted string is empty (d, i, u, o, x, X, p).   */
+        } else {
+          char f[5]; int f_l = 0;
+          f[f_l++] = '%';    /* construct a simple format string for sprintf */
+          if (!length_modifier) { }
+          else if (length_modifier=='2') { f[f_l++] = 'l'; f[f_l++] = 'l'; }
+          else f[f_l++] = length_modifier;
+          f[f_l++] = fmt_spec; f[f_l++] = '\0';
+          if (fmt_spec == 'p') str_arg_l += sprintf(tmp+str_arg_l, f, ptr_arg);
+          else if (fmt_spec == 'd') {  /* signed */
+            switch (length_modifier) {
+            case '\0':
+            case 'h': str_arg_l+=sprintf(tmp+str_arg_l, f, int_arg);  break;
+            case 'l': str_arg_l+=sprintf(tmp+str_arg_l, f, long_arg); break;
+#ifdef SNPRINTF_LONGLONG_SUPPORT
+            case '2': str_arg_l+=sprintf(tmp+str_arg_l,f,long_long_arg); break;
+#endif
+            }
+          } else {  /* unsigned */
+            switch (length_modifier) {
+            case '\0':
+            case 'h': str_arg_l+=sprintf(tmp+str_arg_l, f, uint_arg);  break;
+            case 'l': str_arg_l+=sprintf(tmp+str_arg_l, f, ulong_arg); break;
+#ifdef SNPRINTF_LONGLONG_SUPPORT
+            case '2': str_arg_l+=sprintf(tmp+str_arg_l,f,ulong_long_arg);break;
+#endif
+            }
+          }
+         /* include the optional minus sign and possible "0x"
+            in the region before the zero padding insertion point */
+          if (zero_padding_insertion_ind < str_arg_l &&
+              tmp[zero_padding_insertion_ind] == '-') {
+            zero_padding_insertion_ind++;
+          }
+          if (zero_padding_insertion_ind+1 < str_arg_l &&
+              tmp[zero_padding_insertion_ind]   == '0' &&
+             (tmp[zero_padding_insertion_ind+1] == 'x' ||
+              tmp[zero_padding_insertion_ind+1] == 'X') ) {
+            zero_padding_insertion_ind += 2;
+          }
+        }
+        { size_t num_of_digits = str_arg_l - zero_padding_insertion_ind;
+          if (alternate_form && fmt_spec == 'o'
+#ifdef HPUX_COMPATIBLE                                  /* ("%#.o",0) -> ""  */
+              && (str_arg_l > 0)
+#endif
+#ifdef DIGITAL_UNIX_BUG_COMPATIBLE                      /* ("%#o",0) -> "00" */
+#else
+              /* unless zero is already the first character */
+              && !(zero_padding_insertion_ind < str_arg_l
+                   && tmp[zero_padding_insertion_ind] == '0')
+#endif
+          ) {        /* assure leading zero for alternate-form octal numbers */
+            if (!precision_specified || precision < num_of_digits+1) {
+             /* precision is increased to force the first character to be zero,
+                except if a zero value is formatted with an explicit precision
+                of zero */
+              precision = num_of_digits+1; precision_specified = 1;
+            }
+          }
+       /* zero padding to specified precision? */
+          if (num_of_digits < precision) 
+            number_of_zeros_to_pad = precision - num_of_digits;
+        }
+     /* zero padding to specified minimal field width? */
+        if (!justify_left && zero_padding) {
+          size_t n = min_field_width - (str_arg_l+number_of_zeros_to_pad);
+          if (n > 0) number_of_zeros_to_pad += n;
+        }
+        break;
+      }
+      default: /* unrecognized conversion specifier, keep format string as-is*/
+        zero_padding = 0;  /* turn zero padding off for non-numeric convers. */
+#ifndef DIGITAL_UNIX_COMPATIBLE
+        justify_left = 1; min_field_width = 0;                /* reset flags */
+#endif
+#if defined(PERL_COMPATIBLE) || defined(LINUX_COMPATIBLE)
+     /* keep the entire format string unchanged */
+        str_arg = starting_p; str_arg_l = p - starting_p;
+     /* well, not exactly so for Linux, which does something inbetween,
+      * and I don't feel an urge to imitate it: "%+++++hy" -> "%+y"  */
+#else
+     /* discard the unrecognized conversion, just keep *
+      * the unrecognized conversion character          */
+        str_arg = p; str_arg_l = 0;
+#endif
+        if (*p) str_arg_l++;  /* include invalid conversion specifier unchanged
+                                 if not at end-of-string */
+        break;
+      }
+      if (*p) p++;      /* step over the just processed conversion specifier */
+   /* insert padding to the left as requested by min_field_width;
+      this does not include the zero padding in case of numerical conversions*/
+      if (!justify_left) {                /* left padding with blank or zero */
+        size_t n = min_field_width - (str_arg_l+number_of_zeros_to_pad);
+        if (n > 0) {
+          if (str_l < str_m) {
+            size_t avail = str_m-str_l;
+            fast_memset(str+str_l, (zero_padding?'0':' '), (n>avail?avail:n));
+          }
+          str_l += n;
+        }
+      }
+   /* zero padding as requested by the precision or by the minimal field width
+    * for numeric conversions required? */
+      if (number_of_zeros_to_pad <= 0) {
+     /* will not copy first part of numeric right now, *
+      * force it to be copied later in its entirety    */
+        zero_padding_insertion_ind = 0;
+      } else {
+     /* insert first part of numerics (sign or '0x') before zero padding */
+        size_t n = zero_padding_insertion_ind;
+        if (n > 0) {
+          if (str_l < str_m) {
+            size_t avail = str_m-str_l;
+            fast_memcpy(str+str_l, str_arg, (n>avail?avail:n));
+          }
+          str_l += n;
+        }
+     /* insert zero padding as requested by the precision or min field width */
+        n = number_of_zeros_to_pad;
+        if (n > 0) {
+          if (str_l < str_m) {
+            size_t avail = str_m-str_l;
+            fast_memset(str+str_l, '0', (n>avail?avail:n));
+          }
+          str_l += n;
+        }
+      }
+   /* insert formatted string
+    * (or as-is conversion specifier for unknown conversions) */
+      { size_t n = str_arg_l - zero_padding_insertion_ind;
+        if (n > 0) {
+          if (str_l < str_m) {
+            size_t avail = str_m-str_l;
+            fast_memcpy(str+str_l, str_arg+zero_padding_insertion_ind,
+                        (n>avail?avail:n));
+          }
+          str_l += n;
+        }
+      }
+   /* insert right padding */
+      if (justify_left) {          /* right blank padding to the field width */
+        size_t n = min_field_width - (str_arg_l+number_of_zeros_to_pad);
+        if (n > 0) {
+          if (str_l < str_m) {
+            size_t avail = str_m-str_l;
+            fast_memset(str+str_l, ' ', (n>avail?avail:n));
+          }
+          str_l += n;
+        }
+      }
+    }
+  }
+#if defined(NEED_SNPRINTF_ONLY)
+  va_end(ap);
+#endif
+  if (str_m > 0) { /* make sure the string is null-terminated
+                      even at the expense of overwriting the last character
+                      (shouldn't happen, but just in case) */
+    str[str_l <= str_m-1 ? str_l : str_m-1] = '\0';
+  }
+  /* Return the number of characters formatted (excluding trailing null
+   * character), that is, the number of characters that would have been
+   * written to the buffer if it were large enough.
+   *
+   * The value of str_l should be returned, but str_l is of unsigned type
+   * size_t, and snprintf is int, possibly leading to an undetected
+   * integer overflow, resulting in a negative return value, which is illegal.
+   * Both XSH5 and ISO C99 (at least the draft) are silent on this issue.
+   * Should errno be set to EOVERFLOW and EOF returned in this case???
+   */
+  return (int) str_l;
+}
+#endif
diff --git a/VrUtils/resource.h b/VrUtils/resource.h
new file mode 100644
index 0000000..acbbbe4
--- /dev/null
+++ b/VrUtils/resource.h
@@ -0,0 +1,14 @@
+//{{NO_DEPENDENCIES}}
+// Microsoft Visual C++ generated include file.
+// Used by VrUtils.rc
+
+// Next default values for new objects
+// 
+#ifdef APSTUDIO_INVOKED
+#ifndef APSTUDIO_READONLY_SYMBOLS
+#define _APS_NEXT_RESOURCE_VALUE        101
+#define _APS_NEXT_COMMAND_VALUE         40001
+#define _APS_NEXT_CONTROL_VALUE         1001
+#define _APS_NEXT_SYMED_VALUE           101
+#endif
+#endif
diff --git a/VrUtils/tinyxml2/tinyxml2.cpp b/VrUtils/tinyxml2/tinyxml2.cpp
new file mode 100644
index 0000000..3cbe174
--- /dev/null
+++ b/VrUtils/tinyxml2/tinyxml2.cpp
@@ -0,0 +1,2987 @@
+/*
+Original code by Lee Thomason (www.grinninglizard.com)
+
+This software is provided 'as-is', without any express or implied
+warranty. In no event will the authors be held liable for any
+damages arising from the use of this software.
+
+Permission is granted to anyone to use this software for any
+purpose, including commercial applications, and to alter it and
+redistribute it freely, subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must
+not claim that you wrote the original software. If you use this
+software in a product, an acknowledgment in the product documentation
+would be appreciated but is not required.
+
+2. Altered source versions must be plainly marked as such, and
+must not be misrepresented as being the original software.
+
+3. This notice may not be removed or altered from any source
+distribution.
+*/
+
+#include "tinyxml2.h"
+
+#include 		// yes, this one new style header, is in the Android SDK.
+#if defined(ANDROID_NDK) || defined(__BORLANDC__) || defined(__QNXNTO__)
+#   include 
+#   include 
+#else
+#   include 
+#   include 
+#endif
+
+#if defined(_MSC_VER) && (_MSC_VER >= 1400 ) && (!defined WINCE)
+	// Microsoft Visual Studio, version 2005 and higher. Not WinCE.
+	/*int _snprintf_s(
+	   char *buffer,
+	   size_t sizeOfBuffer,
+	   size_t count,
+	   const char *format [,
+		  argument] ...
+	);*/
+	static inline int TIXML_SNPRINTF( char* buffer, size_t size, const char* format, ... )
+	{
+		va_list va;
+		va_start( va, format );
+		const int result = vsnprintf_s( buffer, size, _TRUNCATE, format, va );
+		va_end( va );
+		return result;
+	}
+
+	static inline int TIXML_VSNPRINTF( char* buffer, size_t size, const char* format, va_list va )
+	{
+		const int result = vsnprintf_s( buffer, size, _TRUNCATE, format, va );
+		return result;
+	}
+
+	#define TIXML_VSCPRINTF	_vscprintf
+	#define TIXML_SSCANF	sscanf_s
+#elif defined _MSC_VER
+	// Microsoft Visual Studio 2003 and earlier or WinCE
+	#define TIXML_SNPRINTF	_snprintf
+	#define TIXML_VSNPRINTF _vsnprintf
+	#define TIXML_SSCANF	sscanf
+	#if (_MSC_VER < 1400 ) && (!defined WINCE)
+		// Microsoft Visual Studio 2003 and not WinCE.
+		#define TIXML_VSCPRINTF   _vscprintf // VS2003's C runtime has this, but VC6 C runtime or WinCE SDK doesn't have.
+	#else
+		// Microsoft Visual Studio 2003 and earlier or WinCE.
+		static inline int TIXML_VSCPRINTF( const char* format, va_list va )
+		{
+			int len = 512;
+			for (;;) {
+				len = len*2;
+				char* str = new char[len]();
+				const int required = _vsnprintf(str, len, format, va);
+				delete[] str;
+				if ( required != -1 ) {
+					TIXMLASSERT( required >= 0 );
+					len = required;
+					break;
+				}
+			}
+			TIXMLASSERT( len >= 0 );
+			return len;
+		}
+	#endif
+#else
+	// GCC version 3 and higher
+	//#warning( "Using sn* functions." )
+	#define TIXML_SNPRINTF	snprintf
+	#define TIXML_VSNPRINTF	vsnprintf
+	static inline int TIXML_VSCPRINTF( const char* format, va_list va )
+	{
+		int len = vsnprintf( 0, 0, format, va );
+		TIXMLASSERT( len >= 0 );
+		return len;
+	}
+	#define TIXML_SSCANF   sscanf
+#endif
+
+#if defined(_WIN64)
+	#define TIXML_FSEEK _fseeki64
+	#define TIXML_FTELL _ftelli64
+#elif defined(__APPLE__) || defined(__FreeBSD__) || defined(__OpenBSD__) \
+	|| defined(__NetBSD__) || defined(__DragonFly__) || defined(__ANDROID__)
+	#define TIXML_FSEEK fseeko
+	#define TIXML_FTELL ftello
+#elif defined(__unix__) && defined(__x86_64__)
+	#define TIXML_FSEEK fseeko64
+	#define TIXML_FTELL ftello64
+#else
+	#define TIXML_FSEEK fseek
+	#define TIXML_FTELL ftell
+#endif
+
+
+static const char LINE_FEED				= static_cast(0x0a);			// all line endings are normalized to LF
+static const char LF = LINE_FEED;
+static const char CARRIAGE_RETURN		= static_cast(0x0d);			// CR gets filtered out
+static const char CR = CARRIAGE_RETURN;
+static const char SINGLE_QUOTE			= '\'';
+static const char DOUBLE_QUOTE			= '\"';
+
+// Bunch of unicode info at:
+//		http://www.unicode.org/faq/utf_bom.html
+//	ef bb bf (Microsoft "lead bytes") - designates UTF-8
+
+static const unsigned char TIXML_UTF_LEAD_0 = 0xefU;
+static const unsigned char TIXML_UTF_LEAD_1 = 0xbbU;
+static const unsigned char TIXML_UTF_LEAD_2 = 0xbfU;
+
+namespace tinyxml2
+{
+
+struct Entity {
+    const char* pattern;
+    int length;
+    char value;
+};
+
+static const int NUM_ENTITIES = 5;
+static const Entity entities[NUM_ENTITIES] = {
+    { "quot", 4,	DOUBLE_QUOTE },
+    { "amp", 3,		'&'  },
+    { "apos", 4,	SINGLE_QUOTE },
+    { "lt",	2, 		'<'	 },
+    { "gt",	2,		'>'	 }
+};
+
+
+StrPair::~StrPair()
+{
+    Reset();
+}
+
+
+void StrPair::TransferTo( StrPair* other )
+{
+    if ( this == other ) {
+        return;
+    }
+    // This in effect implements the assignment operator by "moving"
+    // ownership (as in auto_ptr).
+
+    TIXMLASSERT( other != 0 );
+    TIXMLASSERT( other->_flags == 0 );
+    TIXMLASSERT( other->_start == 0 );
+    TIXMLASSERT( other->_end == 0 );
+
+    other->Reset();
+
+    other->_flags = _flags;
+    other->_start = _start;
+    other->_end = _end;
+
+    _flags = 0;
+    _start = 0;
+    _end = 0;
+}
+
+
+void StrPair::Reset()
+{
+    if ( _flags & NEEDS_DELETE ) {
+        delete [] _start;
+    }
+    _flags = 0;
+    _start = 0;
+    _end = 0;
+}
+
+
+void StrPair::SetStr( const char* str, int flags )
+{
+    TIXMLASSERT( str );
+    Reset();
+    size_t len = strlen( str );
+    TIXMLASSERT( _start == 0 );
+    _start = new char[ len+1 ];
+    memcpy( _start, str, len+1 );
+    _end = _start + len;
+    _flags = flags | NEEDS_DELETE;
+}
+
+
+char* StrPair::ParseText( char* p, const char* endTag, int strFlags, int* curLineNumPtr )
+{
+    TIXMLASSERT( p );
+    TIXMLASSERT( endTag && *endTag );
+	TIXMLASSERT(curLineNumPtr);
+
+    char* start = p;
+    const char  endChar = *endTag;
+    size_t length = strlen( endTag );
+
+    // Inner loop of text parsing.
+    while ( *p ) {
+        if ( *p == endChar && strncmp( p, endTag, length ) == 0 ) {
+            Set( start, p, strFlags );
+            return p + length;
+        } else if (*p == '\n') {
+            ++(*curLineNumPtr);
+        }
+        ++p;
+        TIXMLASSERT( p );
+    }
+    return 0;
+}
+
+
+char* StrPair::ParseName( char* p )
+{
+    if ( !p || !(*p) ) {
+        return 0;
+    }
+    if ( !XMLUtil::IsNameStartChar( (unsigned char) *p ) ) {
+        return 0;
+    }
+
+    char* const start = p;
+    ++p;
+    while ( *p && XMLUtil::IsNameChar( (unsigned char) *p ) ) {
+        ++p;
+    }
+
+    Set( start, p, 0 );
+    return p;
+}
+
+
+void StrPair::CollapseWhitespace()
+{
+    // Adjusting _start would cause undefined behavior on delete[]
+    TIXMLASSERT( ( _flags & NEEDS_DELETE ) == 0 );
+    // Trim leading space.
+    _start = XMLUtil::SkipWhiteSpace( _start, 0 );
+
+    if ( *_start ) {
+        const char* p = _start;	// the read pointer
+        char* q = _start;	// the write pointer
+
+        while( *p ) {
+            if ( XMLUtil::IsWhiteSpace( *p )) {
+                p = XMLUtil::SkipWhiteSpace( p, 0 );
+                if ( *p == 0 ) {
+                    break;    // don't write to q; this trims the trailing space.
+                }
+                *q = ' ';
+                ++q;
+            }
+            *q = *p;
+            ++q;
+            ++p;
+        }
+        *q = 0;
+    }
+}
+
+
+const char* StrPair::GetStr()
+{
+    TIXMLASSERT( _start );
+    TIXMLASSERT( _end );
+    if ( _flags & NEEDS_FLUSH ) {
+        *_end = 0;
+        _flags ^= NEEDS_FLUSH;
+
+        if ( _flags ) {
+            const char* p = _start;	// the read pointer
+            char* q = _start;	// the write pointer
+
+            while( p < _end ) {
+                if ( (_flags & NEEDS_NEWLINE_NORMALIZATION) && *p == CR ) {
+                    // CR-LF pair becomes LF
+                    // CR alone becomes LF
+                    // LF-CR becomes LF
+                    if ( *(p+1) == LF ) {
+                        p += 2;
+                    }
+                    else {
+                        ++p;
+                    }
+                    *q = LF;
+                    ++q;
+                }
+                else if ( (_flags & NEEDS_NEWLINE_NORMALIZATION) && *p == LF ) {
+                    if ( *(p+1) == CR ) {
+                        p += 2;
+                    }
+                    else {
+                        ++p;
+                    }
+                    *q = LF;
+                    ++q;
+                }
+                else if ( (_flags & NEEDS_ENTITY_PROCESSING) && *p == '&' ) {
+                    // Entities handled by tinyXML2:
+                    // - special entities in the entity table [in/out]
+                    // - numeric character reference [in]
+                    //   中 or 中
+
+                    if ( *(p+1) == '#' ) {
+                        const int buflen = 10;
+                        char buf[buflen] = { 0 };
+                        int len = 0;
+                        const char* adjusted = const_cast( XMLUtil::GetCharacterRef( p, buf, &len ) );
+                        if ( adjusted == 0 ) {
+                            *q = *p;
+                            ++p;
+                            ++q;
+                        }
+                        else {
+                            TIXMLASSERT( 0 <= len && len <= buflen );
+                            TIXMLASSERT( q + len <= adjusted );
+                            p = adjusted;
+                            memcpy( q, buf, len );
+                            q += len;
+                        }
+                    }
+                    else {
+                        bool entityFound = false;
+                        for( int i = 0; i < NUM_ENTITIES; ++i ) {
+                            const Entity& entity = entities[i];
+                            if ( strncmp( p + 1, entity.pattern, entity.length ) == 0
+                                    && *( p + entity.length + 1 ) == ';' ) {
+                                // Found an entity - convert.
+                                *q = entity.value;
+                                ++q;
+                                p += entity.length + 2;
+                                entityFound = true;
+                                break;
+                            }
+                        }
+                        if ( !entityFound ) {
+                            // fixme: treat as error?
+                            ++p;
+                            ++q;
+                        }
+                    }
+                }
+                else {
+                    *q = *p;
+                    ++p;
+                    ++q;
+                }
+            }
+            *q = 0;
+        }
+        // The loop below has plenty going on, and this
+        // is a less useful mode. Break it out.
+        if ( _flags & NEEDS_WHITESPACE_COLLAPSING ) {
+            CollapseWhitespace();
+        }
+        _flags = (_flags & NEEDS_DELETE);
+    }
+    TIXMLASSERT( _start );
+    return _start;
+}
+
+
+
+
+// --------- XMLUtil ----------- //
+
+const char* XMLUtil::writeBoolTrue  = "true";
+const char* XMLUtil::writeBoolFalse = "false";
+
+void XMLUtil::SetBoolSerialization(const char* writeTrue, const char* writeFalse)
+{
+	static const char* defTrue  = "true";
+	static const char* defFalse = "false";
+
+	writeBoolTrue = (writeTrue) ? writeTrue : defTrue;
+	writeBoolFalse = (writeFalse) ? writeFalse : defFalse;
+}
+
+
+const char* XMLUtil::ReadBOM( const char* p, bool* bom )
+{
+    TIXMLASSERT( p );
+    TIXMLASSERT( bom );
+    *bom = false;
+    const unsigned char* pu = reinterpret_cast(p);
+    // Check for BOM:
+    if (    *(pu+0) == TIXML_UTF_LEAD_0
+            && *(pu+1) == TIXML_UTF_LEAD_1
+            && *(pu+2) == TIXML_UTF_LEAD_2 ) {
+        *bom = true;
+        p += 3;
+    }
+    TIXMLASSERT( p );
+    return p;
+}
+
+
+void XMLUtil::ConvertUTF32ToUTF8( unsigned long input, char* output, int* length )
+{
+    const unsigned long BYTE_MASK = 0xBF;
+    const unsigned long BYTE_MARK = 0x80;
+    const unsigned long FIRST_BYTE_MARK[7] = { 0x00, 0x00, 0xC0, 0xE0, 0xF0, 0xF8, 0xFC };
+
+    if (input < 0x80) {
+        *length = 1;
+    }
+    else if ( input < 0x800 ) {
+        *length = 2;
+    }
+    else if ( input < 0x10000 ) {
+        *length = 3;
+    }
+    else if ( input < 0x200000 ) {
+        *length = 4;
+    }
+    else {
+        *length = 0;    // This code won't convert this correctly anyway.
+        return;
+    }
+
+    output += *length;
+
+    // Scary scary fall throughs are annotated with carefully designed comments
+    // to suppress compiler warnings such as -Wimplicit-fallthrough in gcc
+    switch (*length) {
+        case 4:
+            --output;
+            *output = static_cast((input | BYTE_MARK) & BYTE_MASK);
+            input >>= 6;
+            //fall through
+        case 3:
+            --output;
+            *output = static_cast((input | BYTE_MARK) & BYTE_MASK);
+            input >>= 6;
+            //fall through
+        case 2:
+            --output;
+            *output = static_cast((input | BYTE_MARK) & BYTE_MASK);
+            input >>= 6;
+            //fall through
+        case 1:
+            --output;
+            *output = static_cast(input | FIRST_BYTE_MARK[*length]);
+            break;
+        default:
+            TIXMLASSERT( false );
+    }
+}
+
+
+const char* XMLUtil::GetCharacterRef( const char* p, char* value, int* length )
+{
+    // Presume an entity, and pull it out.
+    *length = 0;
+
+    if ( *(p+1) == '#' && *(p+2) ) {
+        unsigned long ucs = 0;
+        TIXMLASSERT( sizeof( ucs ) >= 4 );
+        ptrdiff_t delta = 0;
+        unsigned mult = 1;
+        static const char SEMICOLON = ';';
+
+        if ( *(p+2) == 'x' ) {
+            // Hexadecimal.
+            const char* q = p+3;
+            if ( !(*q) ) {
+                return 0;
+            }
+
+            q = strchr( q, SEMICOLON );
+
+            if ( !q ) {
+                return 0;
+            }
+            TIXMLASSERT( *q == SEMICOLON );
+
+            delta = q-p;
+            --q;
+
+            while ( *q != 'x' ) {
+                unsigned int digit = 0;
+
+                if ( *q >= '0' && *q <= '9' ) {
+                    digit = *q - '0';
+                }
+                else if ( *q >= 'a' && *q <= 'f' ) {
+                    digit = *q - 'a' + 10;
+                }
+                else if ( *q >= 'A' && *q <= 'F' ) {
+                    digit = *q - 'A' + 10;
+                }
+                else {
+                    return 0;
+                }
+                TIXMLASSERT( digit < 16 );
+                TIXMLASSERT( digit == 0 || mult <= UINT_MAX / digit );
+                const unsigned int digitScaled = mult * digit;
+                TIXMLASSERT( ucs <= ULONG_MAX - digitScaled );
+                ucs += digitScaled;
+                TIXMLASSERT( mult <= UINT_MAX / 16 );
+                mult *= 16;
+                --q;
+            }
+        }
+        else {
+            // Decimal.
+            const char* q = p+2;
+            if ( !(*q) ) {
+                return 0;
+            }
+
+            q = strchr( q, SEMICOLON );
+
+            if ( !q ) {
+                return 0;
+            }
+            TIXMLASSERT( *q == SEMICOLON );
+
+            delta = q-p;
+            --q;
+
+            while ( *q != '#' ) {
+                if ( *q >= '0' && *q <= '9' ) {
+                    const unsigned int digit = *q - '0';
+                    TIXMLASSERT( digit < 10 );
+                    TIXMLASSERT( digit == 0 || mult <= UINT_MAX / digit );
+                    const unsigned int digitScaled = mult * digit;
+                    TIXMLASSERT( ucs <= ULONG_MAX - digitScaled );
+                    ucs += digitScaled;
+                }
+                else {
+                    return 0;
+                }
+                TIXMLASSERT( mult <= UINT_MAX / 10 );
+                mult *= 10;
+                --q;
+            }
+        }
+        // convert the UCS to UTF-8
+        ConvertUTF32ToUTF8( ucs, value, length );
+        return p + delta + 1;
+    }
+    return p+1;
+}
+
+
+void XMLUtil::ToStr( int v, char* buffer, int bufferSize )
+{
+    TIXML_SNPRINTF( buffer, bufferSize, "%d", v );
+}
+
+
+void XMLUtil::ToStr( unsigned v, char* buffer, int bufferSize )
+{
+    TIXML_SNPRINTF( buffer, bufferSize, "%u", v );
+}
+
+
+void XMLUtil::ToStr( bool v, char* buffer, int bufferSize )
+{
+    TIXML_SNPRINTF( buffer, bufferSize, "%s", v ? writeBoolTrue : writeBoolFalse);
+}
+
+/*
+	ToStr() of a number is a very tricky topic.
+	https://github.com/leethomason/tinyxml2/issues/106
+*/
+void XMLUtil::ToStr( float v, char* buffer, int bufferSize )
+{
+    TIXML_SNPRINTF( buffer, bufferSize, "%.8g", v );
+}
+
+
+void XMLUtil::ToStr( double v, char* buffer, int bufferSize )
+{
+    TIXML_SNPRINTF( buffer, bufferSize, "%.17g", v );
+}
+
+
+void XMLUtil::ToStr( int64_t v, char* buffer, int bufferSize )
+{
+	// horrible syntax trick to make the compiler happy about %lld
+	TIXML_SNPRINTF(buffer, bufferSize, "%lld", static_cast(v));
+}
+
+void XMLUtil::ToStr( uint64_t v, char* buffer, int bufferSize )
+{
+    // horrible syntax trick to make the compiler happy about %llu
+    TIXML_SNPRINTF(buffer, bufferSize, "%llu", (long long)v);
+}
+
+bool XMLUtil::ToInt(const char* str, int* value)
+{
+    if (IsPrefixHex(str)) {
+        unsigned v;
+        if (TIXML_SSCANF(str, "%x", &v) == 1) {
+            *value = static_cast(v);
+            return true;
+        }
+    }
+    else {
+        if (TIXML_SSCANF(str, "%d", value) == 1) {
+            return true;
+        }
+    }
+    return false;
+}
+
+bool XMLUtil::ToUnsigned(const char* str, unsigned* value)
+{
+    if (TIXML_SSCANF(str, IsPrefixHex(str) ? "%x" : "%u", value) == 1) {
+        return true;
+    }
+    return false;
+}
+
+bool XMLUtil::ToBool( const char* str, bool* value )
+{
+    int ival = 0;
+    if ( ToInt( str, &ival )) {
+        *value = (ival==0) ? false : true;
+        return true;
+    }
+    static const char* TRUE_VALS[] = { "true", "True", "TRUE", 0 };
+    static const char* FALSE_VALS[] = { "false", "False", "FALSE", 0 };
+
+    for (int i = 0; TRUE_VALS[i]; ++i) {
+        if (StringEqual(str, TRUE_VALS[i])) {
+            *value = true;
+            return true;
+        }
+    }
+    for (int i = 0; FALSE_VALS[i]; ++i) {
+        if (StringEqual(str, FALSE_VALS[i])) {
+            *value = false;
+            return true;
+        }
+    }
+    return false;
+}
+
+
+bool XMLUtil::ToFloat( const char* str, float* value )
+{
+    if ( TIXML_SSCANF( str, "%f", value ) == 1 ) {
+        return true;
+    }
+    return false;
+}
+
+
+bool XMLUtil::ToDouble( const char* str, double* value )
+{
+    if ( TIXML_SSCANF( str, "%lf", value ) == 1 ) {
+        return true;
+    }
+    return false;
+}
+
+
+bool XMLUtil::ToInt64(const char* str, int64_t* value)
+{
+    if (IsPrefixHex(str)) {
+        unsigned long long v = 0;	// horrible syntax trick to make the compiler happy about %llx
+        if (TIXML_SSCANF(str, "%llx", &v) == 1) {
+            *value = static_cast(v);
+            return true;
+        }
+    }
+    else {
+        long long v = 0;	// horrible syntax trick to make the compiler happy about %lld
+        if (TIXML_SSCANF(str, "%lld", &v) == 1) {
+            *value = static_cast(v);
+            return true;
+        }
+    }
+	return false;
+}
+
+
+bool XMLUtil::ToUnsigned64(const char* str, uint64_t* value) {
+    unsigned long long v = 0;	// horrible syntax trick to make the compiler happy about %llu
+    if(TIXML_SSCANF(str, IsPrefixHex(str) ? "%llx" : "%llu", &v) == 1) {
+        *value = (uint64_t)v;
+        return true;
+    }
+    return false;
+}
+
+
+char* XMLDocument::Identify( char* p, XMLNode** node )
+{
+    TIXMLASSERT( node );
+    TIXMLASSERT( p );
+    char* const start = p;
+    int const startLine = _parseCurLineNum;
+    p = XMLUtil::SkipWhiteSpace( p, &_parseCurLineNum );
+    if( !*p ) {
+        *node = 0;
+        TIXMLASSERT( p );
+        return p;
+    }
+
+    // These strings define the matching patterns:
+    static const char* xmlHeader		= { "( _commentPool );
+        returnNode->_parseLineNum = _parseCurLineNum;
+        p += xmlHeaderLen;
+    }
+    else if ( XMLUtil::StringEqual( p, commentHeader, commentHeaderLen ) ) {
+        returnNode = CreateUnlinkedNode( _commentPool );
+        returnNode->_parseLineNum = _parseCurLineNum;
+        p += commentHeaderLen;
+    }
+    else if ( XMLUtil::StringEqual( p, cdataHeader, cdataHeaderLen ) ) {
+        XMLText* text = CreateUnlinkedNode( _textPool );
+        returnNode = text;
+        returnNode->_parseLineNum = _parseCurLineNum;
+        p += cdataHeaderLen;
+        text->SetCData( true );
+    }
+    else if ( XMLUtil::StringEqual( p, dtdHeader, dtdHeaderLen ) ) {
+        returnNode = CreateUnlinkedNode( _commentPool );
+        returnNode->_parseLineNum = _parseCurLineNum;
+        p += dtdHeaderLen;
+    }
+    else if ( XMLUtil::StringEqual( p, elementHeader, elementHeaderLen ) ) {
+        returnNode =  CreateUnlinkedNode( _elementPool );
+        returnNode->_parseLineNum = _parseCurLineNum;
+        p += elementHeaderLen;
+    }
+    else {
+        returnNode = CreateUnlinkedNode( _textPool );
+        returnNode->_parseLineNum = _parseCurLineNum; // Report line of first non-whitespace character
+        p = start;	// Back it up, all the text counts.
+        _parseCurLineNum = startLine;
+    }
+
+    TIXMLASSERT( returnNode );
+    TIXMLASSERT( p );
+    *node = returnNode;
+    return p;
+}
+
+
+bool XMLDocument::Accept( XMLVisitor* visitor ) const
+{
+    TIXMLASSERT( visitor );
+    if ( visitor->VisitEnter( *this ) ) {
+        for ( const XMLNode* node=FirstChild(); node; node=node->NextSibling() ) {
+            if ( !node->Accept( visitor ) ) {
+                break;
+            }
+        }
+    }
+    return visitor->VisitExit( *this );
+}
+
+
+// --------- XMLNode ----------- //
+
+XMLNode::XMLNode( XMLDocument* doc ) :
+    _document( doc ),
+    _parent( 0 ),
+    _value(),
+    _parseLineNum( 0 ),
+    _firstChild( 0 ), _lastChild( 0 ),
+    _prev( 0 ), _next( 0 ),
+	_userData( 0 ),
+    _memPool( 0 )
+{
+}
+
+
+XMLNode::~XMLNode()
+{
+    DeleteChildren();
+    if ( _parent ) {
+        _parent->Unlink( this );
+    }
+}
+
+const char* XMLNode::Value() const
+{
+    // Edge case: XMLDocuments don't have a Value. Return null.
+    if ( this->ToDocument() )
+        return 0;
+    return _value.GetStr();
+}
+
+void XMLNode::SetValue( const char* str, bool staticMem )
+{
+    if ( staticMem ) {
+        _value.SetInternedStr( str );
+    }
+    else {
+        _value.SetStr( str );
+    }
+}
+
+XMLNode* XMLNode::DeepClone(XMLDocument* target) const
+{
+	XMLNode* clone = this->ShallowClone(target);
+	if (!clone) return 0;
+
+	for (const XMLNode* child = this->FirstChild(); child; child = child->NextSibling()) {
+		XMLNode* childClone = child->DeepClone(target);
+		TIXMLASSERT(childClone);
+		clone->InsertEndChild(childClone);
+	}
+	return clone;
+}
+
+void XMLNode::DeleteChildren()
+{
+    while( _firstChild ) {
+        TIXMLASSERT( _lastChild );
+        DeleteChild( _firstChild );
+    }
+    _firstChild = _lastChild = 0;
+}
+
+
+void XMLNode::Unlink( XMLNode* child )
+{
+    TIXMLASSERT( child );
+    TIXMLASSERT( child->_document == _document );
+    TIXMLASSERT( child->_parent == this );
+    if ( child == _firstChild ) {
+        _firstChild = _firstChild->_next;
+    }
+    if ( child == _lastChild ) {
+        _lastChild = _lastChild->_prev;
+    }
+
+    if ( child->_prev ) {
+        child->_prev->_next = child->_next;
+    }
+    if ( child->_next ) {
+        child->_next->_prev = child->_prev;
+    }
+	child->_next = 0;
+	child->_prev = 0;
+	child->_parent = 0;
+}
+
+
+void XMLNode::DeleteChild( XMLNode* node )
+{
+    TIXMLASSERT( node );
+    TIXMLASSERT( node->_document == _document );
+    TIXMLASSERT( node->_parent == this );
+    Unlink( node );
+	TIXMLASSERT(node->_prev == 0);
+	TIXMLASSERT(node->_next == 0);
+	TIXMLASSERT(node->_parent == 0);
+    DeleteNode( node );
+}
+
+
+XMLNode* XMLNode::InsertEndChild( XMLNode* addThis )
+{
+    TIXMLASSERT( addThis );
+    if ( addThis->_document != _document ) {
+        TIXMLASSERT( false );
+        return 0;
+    }
+    InsertChildPreamble( addThis );
+
+    if ( _lastChild ) {
+        TIXMLASSERT( _firstChild );
+        TIXMLASSERT( _lastChild->_next == 0 );
+        _lastChild->_next = addThis;
+        addThis->_prev = _lastChild;
+        _lastChild = addThis;
+
+        addThis->_next = 0;
+    }
+    else {
+        TIXMLASSERT( _firstChild == 0 );
+        _firstChild = _lastChild = addThis;
+
+        addThis->_prev = 0;
+        addThis->_next = 0;
+    }
+    addThis->_parent = this;
+    return addThis;
+}
+
+
+XMLNode* XMLNode::InsertFirstChild( XMLNode* addThis )
+{
+    TIXMLASSERT( addThis );
+    if ( addThis->_document != _document ) {
+        TIXMLASSERT( false );
+        return 0;
+    }
+    InsertChildPreamble( addThis );
+
+    if ( _firstChild ) {
+        TIXMLASSERT( _lastChild );
+        TIXMLASSERT( _firstChild->_prev == 0 );
+
+        _firstChild->_prev = addThis;
+        addThis->_next = _firstChild;
+        _firstChild = addThis;
+
+        addThis->_prev = 0;
+    }
+    else {
+        TIXMLASSERT( _lastChild == 0 );
+        _firstChild = _lastChild = addThis;
+
+        addThis->_prev = 0;
+        addThis->_next = 0;
+    }
+    addThis->_parent = this;
+    return addThis;
+}
+
+
+XMLNode* XMLNode::InsertAfterChild( XMLNode* afterThis, XMLNode* addThis )
+{
+    TIXMLASSERT( addThis );
+    if ( addThis->_document != _document ) {
+        TIXMLASSERT( false );
+        return 0;
+    }
+
+    TIXMLASSERT( afterThis );
+
+    if ( afterThis->_parent != this ) {
+        TIXMLASSERT( false );
+        return 0;
+    }
+    if ( afterThis == addThis ) {
+        // Current state: BeforeThis -> AddThis -> OneAfterAddThis
+        // Now AddThis must disappear from it's location and then
+        // reappear between BeforeThis and OneAfterAddThis.
+        // So just leave it where it is.
+        return addThis;
+    }
+
+    if ( afterThis->_next == 0 ) {
+        // The last node or the only node.
+        return InsertEndChild( addThis );
+    }
+    InsertChildPreamble( addThis );
+    addThis->_prev = afterThis;
+    addThis->_next = afterThis->_next;
+    afterThis->_next->_prev = addThis;
+    afterThis->_next = addThis;
+    addThis->_parent = this;
+    return addThis;
+}
+
+
+
+
+const XMLElement* XMLNode::FirstChildElement( const char* name ) const
+{
+    for( const XMLNode* node = _firstChild; node; node = node->_next ) {
+        const XMLElement* element = node->ToElementWithName( name );
+        if ( element ) {
+            return element;
+        }
+    }
+    return 0;
+}
+
+
+const XMLElement* XMLNode::LastChildElement( const char* name ) const
+{
+    for( const XMLNode* node = _lastChild; node; node = node->_prev ) {
+        const XMLElement* element = node->ToElementWithName( name );
+        if ( element ) {
+            return element;
+        }
+    }
+    return 0;
+}
+
+
+const XMLElement* XMLNode::NextSiblingElement( const char* name ) const
+{
+    for( const XMLNode* node = _next; node; node = node->_next ) {
+        const XMLElement* element = node->ToElementWithName( name );
+        if ( element ) {
+            return element;
+        }
+    }
+    return 0;
+}
+
+
+const XMLElement* XMLNode::PreviousSiblingElement( const char* name ) const
+{
+    for( const XMLNode* node = _prev; node; node = node->_prev ) {
+        const XMLElement* element = node->ToElementWithName( name );
+        if ( element ) {
+            return element;
+        }
+    }
+    return 0;
+}
+
+
+char* XMLNode::ParseDeep( char* p, StrPair* parentEndTag, int* curLineNumPtr )
+{
+    // This is a recursive method, but thinking about it "at the current level"
+    // it is a pretty simple flat list:
+    //		
+    //		
+    //
+    // With a special case:
+    //		
+    //		
+    //		
+    //
+    // Where the closing element (/foo) *must* be the next thing after the opening
+    // element, and the names must match. BUT the tricky bit is that the closing
+    // element will be read by the child.
+    //
+    // 'endTag' is the end tag for this node, it is returned by a call to a child.
+    // 'parentEnd' is the end tag for the parent, which is filled in and returned.
+
+	XMLDocument::DepthTracker tracker(_document);
+	if (_document->Error())
+		return 0;
+
+	while( p && *p ) {
+        XMLNode* node = 0;
+
+        p = _document->Identify( p, &node );
+        TIXMLASSERT( p );
+        if ( node == 0 ) {
+            break;
+        }
+
+       const int initialLineNum = node->_parseLineNum;
+
+        StrPair endTag;
+        p = node->ParseDeep( p, &endTag, curLineNumPtr );
+        if ( !p ) {
+            DeleteNode( node );
+            if ( !_document->Error() ) {
+                _document->SetError( XML_ERROR_PARSING, initialLineNum, 0);
+            }
+            break;
+        }
+
+        const XMLDeclaration* const decl = node->ToDeclaration();
+        if ( decl ) {
+            // Declarations are only allowed at document level
+            //
+            // Multiple declarations are allowed but all declarations
+            // must occur before anything else. 
+            //
+            // Optimized due to a security test case. If the first node is 
+            // a declaration, and the last node is a declaration, then only 
+            // declarations have so far been added.
+            bool wellLocated = false;
+
+            if (ToDocument()) {
+                if (FirstChild()) {
+                    wellLocated =
+                        FirstChild() &&
+                        FirstChild()->ToDeclaration() &&
+                        LastChild() &&
+                        LastChild()->ToDeclaration();
+                }
+                else {
+                    wellLocated = true;
+                }
+            }
+            if ( !wellLocated ) {
+                _document->SetError( XML_ERROR_PARSING_DECLARATION, initialLineNum, "XMLDeclaration value=%s", decl->Value());
+                DeleteNode( node );
+                break;
+            }
+        }
+
+        XMLElement* ele = node->ToElement();
+        if ( ele ) {
+            // We read the end tag. Return it to the parent.
+            if ( ele->ClosingType() == XMLElement::CLOSING ) {
+                if ( parentEndTag ) {
+                    ele->_value.TransferTo( parentEndTag );
+                }
+                node->_memPool->SetTracked();   // created and then immediately deleted.
+                DeleteNode( node );
+                return p;
+            }
+
+            // Handle an end tag returned to this level.
+            // And handle a bunch of annoying errors.
+            bool mismatch = false;
+            if ( endTag.Empty() ) {
+                if ( ele->ClosingType() == XMLElement::OPEN ) {
+                    mismatch = true;
+                }
+            }
+            else {
+                if ( ele->ClosingType() != XMLElement::OPEN ) {
+                    mismatch = true;
+                }
+                else if ( !XMLUtil::StringEqual( endTag.GetStr(), ele->Name() ) ) {
+                    mismatch = true;
+                }
+            }
+            if ( mismatch ) {
+                _document->SetError( XML_ERROR_MISMATCHED_ELEMENT, initialLineNum, "XMLElement name=%s", ele->Name());
+                DeleteNode( node );
+                break;
+            }
+        }
+        InsertEndChild( node );
+    }
+    return 0;
+}
+
+/*static*/ void XMLNode::DeleteNode( XMLNode* node )
+{
+    if ( node == 0 ) {
+        return;
+    }
+	TIXMLASSERT(node->_document);
+	if (!node->ToDocument()) {
+		node->_document->MarkInUse(node);
+	}
+
+    MemPool* pool = node->_memPool;
+    node->~XMLNode();
+    pool->Free( node );
+}
+
+void XMLNode::InsertChildPreamble( XMLNode* insertThis ) const
+{
+    TIXMLASSERT( insertThis );
+    TIXMLASSERT( insertThis->_document == _document );
+
+	if (insertThis->_parent) {
+        insertThis->_parent->Unlink( insertThis );
+	}
+	else {
+		insertThis->_document->MarkInUse(insertThis);
+        insertThis->_memPool->SetTracked();
+	}
+}
+
+const XMLElement* XMLNode::ToElementWithName( const char* name ) const
+{
+    const XMLElement* element = this->ToElement();
+    if ( element == 0 ) {
+        return 0;
+    }
+    if ( name == 0 ) {
+        return element;
+    }
+    if ( XMLUtil::StringEqual( element->Name(), name ) ) {
+       return element;
+    }
+    return 0;
+}
+
+// --------- XMLText ---------- //
+char* XMLText::ParseDeep( char* p, StrPair*, int* curLineNumPtr )
+{
+    if ( this->CData() ) {
+        p = _value.ParseText( p, "]]>", StrPair::NEEDS_NEWLINE_NORMALIZATION, curLineNumPtr );
+        if ( !p ) {
+            _document->SetError( XML_ERROR_PARSING_CDATA, _parseLineNum, 0 );
+        }
+        return p;
+    }
+    else {
+        int flags = _document->ProcessEntities() ? StrPair::TEXT_ELEMENT : StrPair::TEXT_ELEMENT_LEAVE_ENTITIES;
+        if ( _document->WhitespaceMode() == COLLAPSE_WHITESPACE ) {
+            flags |= StrPair::NEEDS_WHITESPACE_COLLAPSING;
+        }
+
+        p = _value.ParseText( p, "<", flags, curLineNumPtr );
+        if ( p && *p ) {
+            return p-1;
+        }
+        if ( !p ) {
+            _document->SetError( XML_ERROR_PARSING_TEXT, _parseLineNum, 0 );
+        }
+    }
+    return 0;
+}
+
+
+XMLNode* XMLText::ShallowClone( XMLDocument* doc ) const
+{
+    if ( !doc ) {
+        doc = _document;
+    }
+    XMLText* text = doc->NewText( Value() );	// fixme: this will always allocate memory. Intern?
+    text->SetCData( this->CData() );
+    return text;
+}
+
+
+bool XMLText::ShallowEqual( const XMLNode* compare ) const
+{
+    TIXMLASSERT( compare );
+    const XMLText* text = compare->ToText();
+    return ( text && XMLUtil::StringEqual( text->Value(), Value() ) );
+}
+
+
+bool XMLText::Accept( XMLVisitor* visitor ) const
+{
+    TIXMLASSERT( visitor );
+    return visitor->Visit( *this );
+}
+
+
+// --------- XMLComment ---------- //
+
+XMLComment::XMLComment( XMLDocument* doc ) : XMLNode( doc )
+{
+}
+
+
+XMLComment::~XMLComment()
+{
+}
+
+
+char* XMLComment::ParseDeep( char* p, StrPair*, int* curLineNumPtr )
+{
+    // Comment parses as text.
+    p = _value.ParseText( p, "-->", StrPair::COMMENT, curLineNumPtr );
+    if ( p == 0 ) {
+        _document->SetError( XML_ERROR_PARSING_COMMENT, _parseLineNum, 0 );
+    }
+    return p;
+}
+
+
+XMLNode* XMLComment::ShallowClone( XMLDocument* doc ) const
+{
+    if ( !doc ) {
+        doc = _document;
+    }
+    XMLComment* comment = doc->NewComment( Value() );	// fixme: this will always allocate memory. Intern?
+    return comment;
+}
+
+
+bool XMLComment::ShallowEqual( const XMLNode* compare ) const
+{
+    TIXMLASSERT( compare );
+    const XMLComment* comment = compare->ToComment();
+    return ( comment && XMLUtil::StringEqual( comment->Value(), Value() ));
+}
+
+
+bool XMLComment::Accept( XMLVisitor* visitor ) const
+{
+    TIXMLASSERT( visitor );
+    return visitor->Visit( *this );
+}
+
+
+// --------- XMLDeclaration ---------- //
+
+XMLDeclaration::XMLDeclaration( XMLDocument* doc ) : XMLNode( doc )
+{
+}
+
+
+XMLDeclaration::~XMLDeclaration()
+{
+    //printf( "~XMLDeclaration\n" );
+}
+
+
+char* XMLDeclaration::ParseDeep( char* p, StrPair*, int* curLineNumPtr )
+{
+    // Declaration parses as text.
+    p = _value.ParseText( p, "?>", StrPair::NEEDS_NEWLINE_NORMALIZATION, curLineNumPtr );
+    if ( p == 0 ) {
+        _document->SetError( XML_ERROR_PARSING_DECLARATION, _parseLineNum, 0 );
+    }
+    return p;
+}
+
+
+XMLNode* XMLDeclaration::ShallowClone( XMLDocument* doc ) const
+{
+    if ( !doc ) {
+        doc = _document;
+    }
+    XMLDeclaration* dec = doc->NewDeclaration( Value() );	// fixme: this will always allocate memory. Intern?
+    return dec;
+}
+
+
+bool XMLDeclaration::ShallowEqual( const XMLNode* compare ) const
+{
+    TIXMLASSERT( compare );
+    const XMLDeclaration* declaration = compare->ToDeclaration();
+    return ( declaration && XMLUtil::StringEqual( declaration->Value(), Value() ));
+}
+
+
+
+bool XMLDeclaration::Accept( XMLVisitor* visitor ) const
+{
+    TIXMLASSERT( visitor );
+    return visitor->Visit( *this );
+}
+
+// --------- XMLUnknown ---------- //
+
+XMLUnknown::XMLUnknown( XMLDocument* doc ) : XMLNode( doc )
+{
+}
+
+
+XMLUnknown::~XMLUnknown()
+{
+}
+
+
+char* XMLUnknown::ParseDeep( char* p, StrPair*, int* curLineNumPtr )
+{
+    // Unknown parses as text.
+    p = _value.ParseText( p, ">", StrPair::NEEDS_NEWLINE_NORMALIZATION, curLineNumPtr );
+    if ( !p ) {
+        _document->SetError( XML_ERROR_PARSING_UNKNOWN, _parseLineNum, 0 );
+    }
+    return p;
+}
+
+
+XMLNode* XMLUnknown::ShallowClone( XMLDocument* doc ) const
+{
+    if ( !doc ) {
+        doc = _document;
+    }
+    XMLUnknown* text = doc->NewUnknown( Value() );	// fixme: this will always allocate memory. Intern?
+    return text;
+}
+
+
+bool XMLUnknown::ShallowEqual( const XMLNode* compare ) const
+{
+    TIXMLASSERT( compare );
+    const XMLUnknown* unknown = compare->ToUnknown();
+    return ( unknown && XMLUtil::StringEqual( unknown->Value(), Value() ));
+}
+
+
+bool XMLUnknown::Accept( XMLVisitor* visitor ) const
+{
+    TIXMLASSERT( visitor );
+    return visitor->Visit( *this );
+}
+
+// --------- XMLAttribute ---------- //
+
+const char* XMLAttribute::Name() const
+{
+    return _name.GetStr();
+}
+
+const char* XMLAttribute::Value() const
+{
+    return _value.GetStr();
+}
+
+char* XMLAttribute::ParseDeep( char* p, bool processEntities, int* curLineNumPtr )
+{
+    // Parse using the name rules: bug fix, was using ParseText before
+    p = _name.ParseName( p );
+    if ( !p || !*p ) {
+        return 0;
+    }
+
+    // Skip white space before =
+    p = XMLUtil::SkipWhiteSpace( p, curLineNumPtr );
+    if ( *p != '=' ) {
+        return 0;
+    }
+
+    ++p;	// move up to opening quote
+    p = XMLUtil::SkipWhiteSpace( p, curLineNumPtr );
+    if ( *p != '\"' && *p != '\'' ) {
+        return 0;
+    }
+
+    const char endTag[2] = { *p, 0 };
+    ++p;	// move past opening quote
+
+    p = _value.ParseText( p, endTag, processEntities ? StrPair::ATTRIBUTE_VALUE : StrPair::ATTRIBUTE_VALUE_LEAVE_ENTITIES, curLineNumPtr );
+    return p;
+}
+
+
+void XMLAttribute::SetName( const char* n )
+{
+    _name.SetStr( n );
+}
+
+
+XMLError XMLAttribute::QueryIntValue( int* value ) const
+{
+    if ( XMLUtil::ToInt( Value(), value )) {
+        return XML_SUCCESS;
+    }
+    return XML_WRONG_ATTRIBUTE_TYPE;
+}
+
+
+XMLError XMLAttribute::QueryUnsignedValue( unsigned int* value ) const
+{
+    if ( XMLUtil::ToUnsigned( Value(), value )) {
+        return XML_SUCCESS;
+    }
+    return XML_WRONG_ATTRIBUTE_TYPE;
+}
+
+
+XMLError XMLAttribute::QueryInt64Value(int64_t* value) const
+{
+	if (XMLUtil::ToInt64(Value(), value)) {
+		return XML_SUCCESS;
+	}
+	return XML_WRONG_ATTRIBUTE_TYPE;
+}
+
+
+XMLError XMLAttribute::QueryUnsigned64Value(uint64_t* value) const
+{
+    if(XMLUtil::ToUnsigned64(Value(), value)) {
+        return XML_SUCCESS;
+    }
+    return XML_WRONG_ATTRIBUTE_TYPE;
+}
+
+
+XMLError XMLAttribute::QueryBoolValue( bool* value ) const
+{
+    if ( XMLUtil::ToBool( Value(), value )) {
+        return XML_SUCCESS;
+    }
+    return XML_WRONG_ATTRIBUTE_TYPE;
+}
+
+
+XMLError XMLAttribute::QueryFloatValue( float* value ) const
+{
+    if ( XMLUtil::ToFloat( Value(), value )) {
+        return XML_SUCCESS;
+    }
+    return XML_WRONG_ATTRIBUTE_TYPE;
+}
+
+
+XMLError XMLAttribute::QueryDoubleValue( double* value ) const
+{
+    if ( XMLUtil::ToDouble( Value(), value )) {
+        return XML_SUCCESS;
+    }
+    return XML_WRONG_ATTRIBUTE_TYPE;
+}
+
+
+void XMLAttribute::SetAttribute( const char* v )
+{
+    _value.SetStr( v );
+}
+
+
+void XMLAttribute::SetAttribute( int v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    _value.SetStr( buf );
+}
+
+
+void XMLAttribute::SetAttribute( unsigned v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    _value.SetStr( buf );
+}
+
+
+void XMLAttribute::SetAttribute(int64_t v)
+{
+	char buf[BUF_SIZE];
+	XMLUtil::ToStr(v, buf, BUF_SIZE);
+	_value.SetStr(buf);
+}
+
+void XMLAttribute::SetAttribute(uint64_t v)
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr(v, buf, BUF_SIZE);
+    _value.SetStr(buf);
+}
+
+
+void XMLAttribute::SetAttribute( bool v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    _value.SetStr( buf );
+}
+
+void XMLAttribute::SetAttribute( double v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    _value.SetStr( buf );
+}
+
+void XMLAttribute::SetAttribute( float v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    _value.SetStr( buf );
+}
+
+
+// --------- XMLElement ---------- //
+XMLElement::XMLElement( XMLDocument* doc ) : XMLNode( doc ),
+    _closingType( OPEN ),
+    _rootAttribute( 0 )
+{
+}
+
+
+XMLElement::~XMLElement()
+{
+    while( _rootAttribute ) {
+        XMLAttribute* next = _rootAttribute->_next;
+        DeleteAttribute( _rootAttribute );
+        _rootAttribute = next;
+    }
+}
+
+
+const XMLAttribute* XMLElement::FindAttribute( const char* name ) const
+{
+    for( XMLAttribute* a = _rootAttribute; a; a = a->_next ) {
+        if ( XMLUtil::StringEqual( a->Name(), name ) ) {
+            return a;
+        }
+    }
+    return 0;
+}
+
+
+const char* XMLElement::Attribute( const char* name, const char* value ) const
+{
+    const XMLAttribute* a = FindAttribute( name );
+    if ( !a ) {
+        return 0;
+    }
+    if ( !value || XMLUtil::StringEqual( a->Value(), value )) {
+        return a->Value();
+    }
+    return 0;
+}
+
+int XMLElement::IntAttribute(const char* name, int defaultValue) const
+{
+	int i = defaultValue;
+	QueryIntAttribute(name, &i);
+	return i;
+}
+
+unsigned XMLElement::UnsignedAttribute(const char* name, unsigned defaultValue) const
+{
+	unsigned i = defaultValue;
+	QueryUnsignedAttribute(name, &i);
+	return i;
+}
+
+int64_t XMLElement::Int64Attribute(const char* name, int64_t defaultValue) const
+{
+	int64_t i = defaultValue;
+	QueryInt64Attribute(name, &i);
+	return i;
+}
+
+uint64_t XMLElement::Unsigned64Attribute(const char* name, uint64_t defaultValue) const
+{
+	uint64_t i = defaultValue;
+	QueryUnsigned64Attribute(name, &i);
+	return i;
+}
+
+bool XMLElement::BoolAttribute(const char* name, bool defaultValue) const
+{
+	bool b = defaultValue;
+	QueryBoolAttribute(name, &b);
+	return b;
+}
+
+double XMLElement::DoubleAttribute(const char* name, double defaultValue) const
+{
+	double d = defaultValue;
+	QueryDoubleAttribute(name, &d);
+	return d;
+}
+
+float XMLElement::FloatAttribute(const char* name, float defaultValue) const
+{
+	float f = defaultValue;
+	QueryFloatAttribute(name, &f);
+	return f;
+}
+
+const char* XMLElement::GetText() const
+{
+    /* skip comment node */
+    const XMLNode* node = FirstChild();
+    while (node) {
+        if (node->ToComment()) {
+            node = node->NextSibling();
+            continue;
+        }
+        break;
+    }
+
+    if ( node && node->ToText() ) {
+        return node->Value();
+    }
+    return 0;
+}
+
+
+void	XMLElement::SetText( const char* inText )
+{
+	if ( FirstChild() && FirstChild()->ToText() )
+		FirstChild()->SetValue( inText );
+	else {
+		XMLText*	theText = GetDocument()->NewText( inText );
+		InsertFirstChild( theText );
+	}
+}
+
+
+void XMLElement::SetText( int v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    SetText( buf );
+}
+
+
+void XMLElement::SetText( unsigned v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    SetText( buf );
+}
+
+
+void XMLElement::SetText(int64_t v)
+{
+	char buf[BUF_SIZE];
+	XMLUtil::ToStr(v, buf, BUF_SIZE);
+	SetText(buf);
+}
+
+void XMLElement::SetText(uint64_t v) {
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr(v, buf, BUF_SIZE);
+    SetText(buf);
+}
+
+
+void XMLElement::SetText( bool v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    SetText( buf );
+}
+
+
+void XMLElement::SetText( float v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    SetText( buf );
+}
+
+
+void XMLElement::SetText( double v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    SetText( buf );
+}
+
+
+XMLError XMLElement::QueryIntText( int* ival ) const
+{
+    if ( FirstChild() && FirstChild()->ToText() ) {
+        const char* t = FirstChild()->Value();
+        if ( XMLUtil::ToInt( t, ival ) ) {
+            return XML_SUCCESS;
+        }
+        return XML_CAN_NOT_CONVERT_TEXT;
+    }
+    return XML_NO_TEXT_NODE;
+}
+
+
+XMLError XMLElement::QueryUnsignedText( unsigned* uval ) const
+{
+    if ( FirstChild() && FirstChild()->ToText() ) {
+        const char* t = FirstChild()->Value();
+        if ( XMLUtil::ToUnsigned( t, uval ) ) {
+            return XML_SUCCESS;
+        }
+        return XML_CAN_NOT_CONVERT_TEXT;
+    }
+    return XML_NO_TEXT_NODE;
+}
+
+
+XMLError XMLElement::QueryInt64Text(int64_t* ival) const
+{
+	if (FirstChild() && FirstChild()->ToText()) {
+		const char* t = FirstChild()->Value();
+		if (XMLUtil::ToInt64(t, ival)) {
+			return XML_SUCCESS;
+		}
+		return XML_CAN_NOT_CONVERT_TEXT;
+	}
+	return XML_NO_TEXT_NODE;
+}
+
+
+XMLError XMLElement::QueryUnsigned64Text(uint64_t* ival) const
+{
+    if(FirstChild() && FirstChild()->ToText()) {
+        const char* t = FirstChild()->Value();
+        if(XMLUtil::ToUnsigned64(t, ival)) {
+            return XML_SUCCESS;
+        }
+        return XML_CAN_NOT_CONVERT_TEXT;
+    }
+    return XML_NO_TEXT_NODE;
+}
+
+
+XMLError XMLElement::QueryBoolText( bool* bval ) const
+{
+    if ( FirstChild() && FirstChild()->ToText() ) {
+        const char* t = FirstChild()->Value();
+        if ( XMLUtil::ToBool( t, bval ) ) {
+            return XML_SUCCESS;
+        }
+        return XML_CAN_NOT_CONVERT_TEXT;
+    }
+    return XML_NO_TEXT_NODE;
+}
+
+
+XMLError XMLElement::QueryDoubleText( double* dval ) const
+{
+    if ( FirstChild() && FirstChild()->ToText() ) {
+        const char* t = FirstChild()->Value();
+        if ( XMLUtil::ToDouble( t, dval ) ) {
+            return XML_SUCCESS;
+        }
+        return XML_CAN_NOT_CONVERT_TEXT;
+    }
+    return XML_NO_TEXT_NODE;
+}
+
+
+XMLError XMLElement::QueryFloatText( float* fval ) const
+{
+    if ( FirstChild() && FirstChild()->ToText() ) {
+        const char* t = FirstChild()->Value();
+        if ( XMLUtil::ToFloat( t, fval ) ) {
+            return XML_SUCCESS;
+        }
+        return XML_CAN_NOT_CONVERT_TEXT;
+    }
+    return XML_NO_TEXT_NODE;
+}
+
+int XMLElement::IntText(int defaultValue) const
+{
+	int i = defaultValue;
+	QueryIntText(&i);
+	return i;
+}
+
+unsigned XMLElement::UnsignedText(unsigned defaultValue) const
+{
+	unsigned i = defaultValue;
+	QueryUnsignedText(&i);
+	return i;
+}
+
+int64_t XMLElement::Int64Text(int64_t defaultValue) const
+{
+	int64_t i = defaultValue;
+	QueryInt64Text(&i);
+	return i;
+}
+
+uint64_t XMLElement::Unsigned64Text(uint64_t defaultValue) const
+{
+	uint64_t i = defaultValue;
+	QueryUnsigned64Text(&i);
+	return i;
+}
+
+bool XMLElement::BoolText(bool defaultValue) const
+{
+	bool b = defaultValue;
+	QueryBoolText(&b);
+	return b;
+}
+
+double XMLElement::DoubleText(double defaultValue) const
+{
+	double d = defaultValue;
+	QueryDoubleText(&d);
+	return d;
+}
+
+float XMLElement::FloatText(float defaultValue) const
+{
+	float f = defaultValue;
+	QueryFloatText(&f);
+	return f;
+}
+
+
+XMLAttribute* XMLElement::FindOrCreateAttribute( const char* name )
+{
+    XMLAttribute* last = 0;
+    XMLAttribute* attrib = 0;
+    for( attrib = _rootAttribute;
+            attrib;
+            last = attrib, attrib = attrib->_next ) {
+        if ( XMLUtil::StringEqual( attrib->Name(), name ) ) {
+            break;
+        }
+    }
+    if ( !attrib ) {
+        attrib = CreateAttribute();
+        TIXMLASSERT( attrib );
+        if ( last ) {
+            TIXMLASSERT( last->_next == 0 );
+            last->_next = attrib;
+        }
+        else {
+            TIXMLASSERT( _rootAttribute == 0 );
+            _rootAttribute = attrib;
+        }
+        attrib->SetName( name );
+    }
+    return attrib;
+}
+
+
+void XMLElement::DeleteAttribute( const char* name )
+{
+    XMLAttribute* prev = 0;
+    for( XMLAttribute* a=_rootAttribute; a; a=a->_next ) {
+        if ( XMLUtil::StringEqual( name, a->Name() ) ) {
+            if ( prev ) {
+                prev->_next = a->_next;
+            }
+            else {
+                _rootAttribute = a->_next;
+            }
+            DeleteAttribute( a );
+            break;
+        }
+        prev = a;
+    }
+}
+
+
+char* XMLElement::ParseAttributes( char* p, int* curLineNumPtr )
+{
+    XMLAttribute* prevAttribute = 0;
+
+    // Read the attributes.
+    while( p ) {
+        p = XMLUtil::SkipWhiteSpace( p, curLineNumPtr );
+        if ( !(*p) ) {
+            _document->SetError( XML_ERROR_PARSING_ELEMENT, _parseLineNum, "XMLElement name=%s", Name() );
+            return 0;
+        }
+
+        // attribute.
+        if (XMLUtil::IsNameStartChar( (unsigned char) *p ) ) {
+            XMLAttribute* attrib = CreateAttribute();
+            TIXMLASSERT( attrib );
+            attrib->_parseLineNum = _document->_parseCurLineNum;
+
+            const int attrLineNum = attrib->_parseLineNum;
+
+            p = attrib->ParseDeep( p, _document->ProcessEntities(), curLineNumPtr );
+            if ( !p || Attribute( attrib->Name() ) ) {
+                DeleteAttribute( attrib );
+                _document->SetError( XML_ERROR_PARSING_ATTRIBUTE, attrLineNum, "XMLElement name=%s", Name() );
+                return 0;
+            }
+            // There is a minor bug here: if the attribute in the source xml
+            // document is duplicated, it will not be detected and the
+            // attribute will be doubly added. However, tracking the 'prevAttribute'
+            // avoids re-scanning the attribute list. Preferring performance for
+            // now, may reconsider in the future.
+            if ( prevAttribute ) {
+                TIXMLASSERT( prevAttribute->_next == 0 );
+                prevAttribute->_next = attrib;
+            }
+            else {
+                TIXMLASSERT( _rootAttribute == 0 );
+                _rootAttribute = attrib;
+            }
+            prevAttribute = attrib;
+        }
+        // end of the tag
+        else if ( *p == '>' ) {
+            ++p;
+            break;
+        }
+        // end of the tag
+        else if ( *p == '/' && *(p+1) == '>' ) {
+            _closingType = CLOSED;
+            return p+2;	// done; sealed element.
+        }
+        else {
+            _document->SetError( XML_ERROR_PARSING_ELEMENT, _parseLineNum, 0 );
+            return 0;
+        }
+    }
+    return p;
+}
+
+void XMLElement::DeleteAttribute( XMLAttribute* attribute )
+{
+    if ( attribute == 0 ) {
+        return;
+    }
+    MemPool* pool = attribute->_memPool;
+    attribute->~XMLAttribute();
+    pool->Free( attribute );
+}
+
+XMLAttribute* XMLElement::CreateAttribute()
+{
+    TIXMLASSERT( sizeof( XMLAttribute ) == _document->_attributePool.ItemSize() );
+    XMLAttribute* attrib = new (_document->_attributePool.Alloc() ) XMLAttribute();
+    TIXMLASSERT( attrib );
+    attrib->_memPool = &_document->_attributePool;
+    attrib->_memPool->SetTracked();
+    return attrib;
+}
+
+
+XMLElement* XMLElement::InsertNewChildElement(const char* name)
+{
+    XMLElement* node = _document->NewElement(name);
+    return InsertEndChild(node) ? node : 0;
+}
+
+XMLComment* XMLElement::InsertNewComment(const char* comment)
+{
+    XMLComment* node = _document->NewComment(comment);
+    return InsertEndChild(node) ? node : 0;
+}
+
+XMLText* XMLElement::InsertNewText(const char* text)
+{
+    XMLText* node = _document->NewText(text);
+    return InsertEndChild(node) ? node : 0;
+}
+
+XMLDeclaration* XMLElement::InsertNewDeclaration(const char* text)
+{
+    XMLDeclaration* node = _document->NewDeclaration(text);
+    return InsertEndChild(node) ? node : 0;
+}
+
+XMLUnknown* XMLElement::InsertNewUnknown(const char* text)
+{
+    XMLUnknown* node = _document->NewUnknown(text);
+    return InsertEndChild(node) ? node : 0;
+}
+
+
+
+//
+//	
+//	foobar
+//
+char* XMLElement::ParseDeep( char* p, StrPair* parentEndTag, int* curLineNumPtr )
+{
+    // Read the element name.
+    p = XMLUtil::SkipWhiteSpace( p, curLineNumPtr );
+
+    // The closing element is the  form. It is
+    // parsed just like a regular element then deleted from
+    // the DOM.
+    if ( *p == '/' ) {
+        _closingType = CLOSING;
+        ++p;
+    }
+
+    p = _value.ParseName( p );
+    if ( _value.Empty() ) {
+        return 0;
+    }
+
+    p = ParseAttributes( p, curLineNumPtr );
+    if ( !p || !*p || _closingType != OPEN ) {
+        return p;
+    }
+
+    p = XMLNode::ParseDeep( p, parentEndTag, curLineNumPtr );
+    return p;
+}
+
+
+
+XMLNode* XMLElement::ShallowClone( XMLDocument* doc ) const
+{
+    if ( !doc ) {
+        doc = _document;
+    }
+    XMLElement* element = doc->NewElement( Value() );					// fixme: this will always allocate memory. Intern?
+    for( const XMLAttribute* a=FirstAttribute(); a; a=a->Next() ) {
+        element->SetAttribute( a->Name(), a->Value() );					// fixme: this will always allocate memory. Intern?
+    }
+    return element;
+}
+
+
+bool XMLElement::ShallowEqual( const XMLNode* compare ) const
+{
+    TIXMLASSERT( compare );
+    const XMLElement* other = compare->ToElement();
+    if ( other && XMLUtil::StringEqual( other->Name(), Name() )) {
+
+        const XMLAttribute* a=FirstAttribute();
+        const XMLAttribute* b=other->FirstAttribute();
+
+        while ( a && b ) {
+            if ( !XMLUtil::StringEqual( a->Value(), b->Value() ) ) {
+                return false;
+            }
+            a = a->Next();
+            b = b->Next();
+        }
+        if ( a || b ) {
+            // different count
+            return false;
+        }
+        return true;
+    }
+    return false;
+}
+
+
+bool XMLElement::Accept( XMLVisitor* visitor ) const
+{
+    TIXMLASSERT( visitor );
+    if ( visitor->VisitEnter( *this, _rootAttribute ) ) {
+        for ( const XMLNode* node=FirstChild(); node; node=node->NextSibling() ) {
+            if ( !node->Accept( visitor ) ) {
+                break;
+            }
+        }
+    }
+    return visitor->VisitExit( *this );
+}
+
+
+// --------- XMLDocument ----------- //
+
+// Warning: List must match 'enum XMLError'
+const char* XMLDocument::_errorNames[XML_ERROR_COUNT] = {
+    "XML_SUCCESS",
+    "XML_NO_ATTRIBUTE",
+    "XML_WRONG_ATTRIBUTE_TYPE",
+    "XML_ERROR_FILE_NOT_FOUND",
+    "XML_ERROR_FILE_COULD_NOT_BE_OPENED",
+    "XML_ERROR_FILE_READ_ERROR",
+    "XML_ERROR_PARSING_ELEMENT",
+    "XML_ERROR_PARSING_ATTRIBUTE",
+    "XML_ERROR_PARSING_TEXT",
+    "XML_ERROR_PARSING_CDATA",
+    "XML_ERROR_PARSING_COMMENT",
+    "XML_ERROR_PARSING_DECLARATION",
+    "XML_ERROR_PARSING_UNKNOWN",
+    "XML_ERROR_EMPTY_DOCUMENT",
+    "XML_ERROR_MISMATCHED_ELEMENT",
+    "XML_ERROR_PARSING",
+    "XML_CAN_NOT_CONVERT_TEXT",
+    "XML_NO_TEXT_NODE",
+	"XML_ELEMENT_DEPTH_EXCEEDED"
+};
+
+
+XMLDocument::XMLDocument( bool processEntities, Whitespace whitespaceMode ) :
+    XMLNode( 0 ),
+    _writeBOM( false ),
+    _processEntities( processEntities ),
+    _errorID(XML_SUCCESS),
+    _whitespaceMode( whitespaceMode ),
+    _errorStr(),
+    _errorLineNum( 0 ),
+    _charBuffer( 0 ),
+    _parseCurLineNum( 0 ),
+	_parsingDepth(0),
+    _unlinked(),
+    _elementPool(),
+    _attributePool(),
+    _textPool(),
+    _commentPool()
+{
+    // avoid VC++ C4355 warning about 'this' in initializer list (C4355 is off by default in VS2012+)
+    _document = this;
+}
+
+
+XMLDocument::~XMLDocument()
+{
+    Clear();
+}
+
+
+void XMLDocument::MarkInUse(const XMLNode* const node)
+{
+	TIXMLASSERT(node);
+	TIXMLASSERT(node->_parent == 0);
+
+	for (int i = 0; i < _unlinked.Size(); ++i) {
+		if (node == _unlinked[i]) {
+			_unlinked.SwapRemove(i);
+			break;
+		}
+	}
+}
+
+void XMLDocument::Clear()
+{
+    DeleteChildren();
+	while( _unlinked.Size()) {
+		DeleteNode(_unlinked[0]);	// Will remove from _unlinked as part of delete.
+	}
+
+#ifdef TINYXML2_DEBUG
+    const bool hadError = Error();
+#endif
+    ClearError();
+
+    delete [] _charBuffer;
+    _charBuffer = 0;
+	_parsingDepth = 0;
+
+#if 0
+    _textPool.Trace( "text" );
+    _elementPool.Trace( "element" );
+    _commentPool.Trace( "comment" );
+    _attributePool.Trace( "attribute" );
+#endif
+
+#ifdef TINYXML2_DEBUG
+    if ( !hadError ) {
+        TIXMLASSERT( _elementPool.CurrentAllocs()   == _elementPool.Untracked() );
+        TIXMLASSERT( _attributePool.CurrentAllocs() == _attributePool.Untracked() );
+        TIXMLASSERT( _textPool.CurrentAllocs()      == _textPool.Untracked() );
+        TIXMLASSERT( _commentPool.CurrentAllocs()   == _commentPool.Untracked() );
+    }
+#endif
+}
+
+
+void XMLDocument::DeepCopy(XMLDocument* target) const
+{
+	TIXMLASSERT(target);
+    if (target == this) {
+        return; // technically success - a no-op.
+    }
+
+	target->Clear();
+	for (const XMLNode* node = this->FirstChild(); node; node = node->NextSibling()) {
+		target->InsertEndChild(node->DeepClone(target));
+	}
+}
+
+XMLElement* XMLDocument::NewElement( const char* name )
+{
+    XMLElement* ele = CreateUnlinkedNode( _elementPool );
+    ele->SetName( name );
+    return ele;
+}
+
+
+XMLComment* XMLDocument::NewComment( const char* str )
+{
+    XMLComment* comment = CreateUnlinkedNode( _commentPool );
+    comment->SetValue( str );
+    return comment;
+}
+
+
+XMLText* XMLDocument::NewText( const char* str )
+{
+    XMLText* text = CreateUnlinkedNode( _textPool );
+    text->SetValue( str );
+    return text;
+}
+
+
+XMLDeclaration* XMLDocument::NewDeclaration( const char* str )
+{
+    XMLDeclaration* dec = CreateUnlinkedNode( _commentPool );
+    dec->SetValue( str ? str : "xml version=\"1.0\" encoding=\"UTF-8\"" );
+    return dec;
+}
+
+
+XMLUnknown* XMLDocument::NewUnknown( const char* str )
+{
+    XMLUnknown* unk = CreateUnlinkedNode( _commentPool );
+    unk->SetValue( str );
+    return unk;
+}
+
+static FILE* callfopen( const char* filepath, const char* mode )
+{
+    TIXMLASSERT( filepath );
+    TIXMLASSERT( mode );
+#if defined(_MSC_VER) && (_MSC_VER >= 1400 ) && (!defined WINCE)
+    FILE* fp = 0;
+    const errno_t err = fopen_s( &fp, filepath, mode );
+    if ( err ) {
+        return 0;
+    }
+#else
+    FILE* fp = fopen( filepath, mode );
+#endif
+    return fp;
+}
+
+void XMLDocument::DeleteNode( XMLNode* node )	{
+    TIXMLASSERT( node );
+    TIXMLASSERT(node->_document == this );
+    if (node->_parent) {
+        node->_parent->DeleteChild( node );
+    }
+    else {
+        // Isn't in the tree.
+        // Use the parent delete.
+        // Also, we need to mark it tracked: we 'know'
+        // it was never used.
+        node->_memPool->SetTracked();
+        // Call the static XMLNode version:
+        XMLNode::DeleteNode(node);
+    }
+}
+
+
+XMLError XMLDocument::LoadFile( const char* filename )
+{
+    if ( !filename ) {
+        TIXMLASSERT( false );
+        SetError( XML_ERROR_FILE_COULD_NOT_BE_OPENED, 0, "filename=" );
+        return _errorID;
+    }
+
+    Clear();
+    FILE* fp = callfopen( filename, "rb" );
+    if ( !fp ) {
+        SetError( XML_ERROR_FILE_NOT_FOUND, 0, "filename=%s", filename );
+        return _errorID;
+    }
+    LoadFile( fp );
+    fclose( fp );
+    return _errorID;
+}
+
+XMLError XMLDocument::LoadFile( FILE* fp )
+{
+    Clear();
+
+    TIXML_FSEEK( fp, 0, SEEK_SET );
+    if ( fgetc( fp ) == EOF && ferror( fp ) != 0 ) {
+        SetError( XML_ERROR_FILE_READ_ERROR, 0, 0 );
+        return _errorID;
+    }
+
+    TIXML_FSEEK( fp, 0, SEEK_END );
+
+    unsigned long long filelength;
+    {
+        const long long fileLengthSigned = TIXML_FTELL( fp );
+        TIXML_FSEEK( fp, 0, SEEK_SET );
+        if ( fileLengthSigned == -1L ) {
+            SetError( XML_ERROR_FILE_READ_ERROR, 0, 0 );
+            return _errorID;
+        }
+        TIXMLASSERT( fileLengthSigned >= 0 );
+        filelength = static_cast(fileLengthSigned);
+    }
+
+    const size_t maxSizeT = static_cast(-1);
+    // We'll do the comparison as an unsigned long long, because that's guaranteed to be at
+    // least 8 bytes, even on a 32-bit platform.
+    if ( filelength >= static_cast(maxSizeT) ) {
+        // Cannot handle files which won't fit in buffer together with null terminator
+        SetError( XML_ERROR_FILE_READ_ERROR, 0, 0 );
+        return _errorID;
+    }
+
+    if ( filelength == 0 ) {
+        SetError( XML_ERROR_EMPTY_DOCUMENT, 0, 0 );
+        return _errorID;
+    }
+
+    const size_t size = static_cast(filelength);
+    TIXMLASSERT( _charBuffer == 0 );
+    _charBuffer = new char[size+1];
+    const size_t read = fread( _charBuffer, 1, size, fp );
+    if ( read != size ) {
+        SetError( XML_ERROR_FILE_READ_ERROR, 0, 0 );
+        return _errorID;
+    }
+
+    _charBuffer[size] = 0;
+
+    Parse();
+    return _errorID;
+}
+
+
+XMLError XMLDocument::SaveFile( const char* filename, bool compact )
+{
+    if ( !filename ) {
+        TIXMLASSERT( false );
+        SetError( XML_ERROR_FILE_COULD_NOT_BE_OPENED, 0, "filename=" );
+        return _errorID;
+    }
+
+    FILE* fp = callfopen( filename, "w" );
+    if ( !fp ) {
+        SetError( XML_ERROR_FILE_COULD_NOT_BE_OPENED, 0, "filename=%s", filename );
+        return _errorID;
+    }
+    SaveFile(fp, compact);
+    fclose( fp );
+    return _errorID;
+}
+
+
+XMLError XMLDocument::SaveFile( FILE* fp, bool compact )
+{
+    // Clear any error from the last save, otherwise it will get reported
+    // for *this* call.
+    ClearError();
+    XMLPrinter stream( fp, compact );
+    Print( &stream );
+    return _errorID;
+}
+
+
+XMLError XMLDocument::Parse( const char* p, size_t len )
+{
+    Clear();
+
+    if ( len == 0 || !p || !*p ) {
+        SetError( XML_ERROR_EMPTY_DOCUMENT, 0, 0 );
+        return _errorID;
+    }
+    if ( len == static_cast(-1) ) {
+        len = strlen( p );
+    }
+    TIXMLASSERT( _charBuffer == 0 );
+    _charBuffer = new char[ len+1 ];
+    memcpy( _charBuffer, p, len );
+    _charBuffer[len] = 0;
+
+    Parse();
+    if ( Error() ) {
+        // clean up now essentially dangling memory.
+        // and the parse fail can put objects in the
+        // pools that are dead and inaccessible.
+        DeleteChildren();
+        _elementPool.Clear();
+        _attributePool.Clear();
+        _textPool.Clear();
+        _commentPool.Clear();
+    }
+    return _errorID;
+}
+
+
+void XMLDocument::Print( XMLPrinter* streamer ) const
+{
+    if ( streamer ) {
+        Accept( streamer );
+    }
+    else {
+        XMLPrinter stdoutStreamer( stdout );
+        Accept( &stdoutStreamer );
+    }
+}
+
+
+void XMLDocument::ClearError() {
+    _errorID = XML_SUCCESS;
+    _errorLineNum = 0;
+    _errorStr.Reset();
+}
+
+
+void XMLDocument::SetError( XMLError error, int lineNum, const char* format, ... )
+{
+    TIXMLASSERT( error >= 0 && error < XML_ERROR_COUNT );
+    _errorID = error;
+    _errorLineNum = lineNum;
+	_errorStr.Reset();
+
+    const size_t BUFFER_SIZE = 1000;
+    char* buffer = new char[BUFFER_SIZE];
+
+    TIXMLASSERT(sizeof(error) <= sizeof(int));
+    TIXML_SNPRINTF(buffer, BUFFER_SIZE, "Error=%s ErrorID=%d (0x%x) Line number=%d", ErrorIDToName(error), int(error), int(error), lineNum);
+
+	if (format) {
+		size_t len = strlen(buffer);
+		TIXML_SNPRINTF(buffer + len, BUFFER_SIZE - len, ": ");
+		len = strlen(buffer);
+
+		va_list va;
+		va_start(va, format);
+		TIXML_VSNPRINTF(buffer + len, BUFFER_SIZE - len, format, va);
+		va_end(va);
+	}
+	_errorStr.SetStr(buffer);
+	delete[] buffer;
+}
+
+
+/*static*/ const char* XMLDocument::ErrorIDToName(XMLError errorID)
+{
+	TIXMLASSERT( errorID >= 0 && errorID < XML_ERROR_COUNT );
+    const char* errorName = _errorNames[errorID];
+    TIXMLASSERT( errorName && errorName[0] );
+    return errorName;
+}
+
+const char* XMLDocument::ErrorStr() const
+{
+	return _errorStr.Empty() ? "" : _errorStr.GetStr();
+}
+
+
+void XMLDocument::PrintError() const
+{
+    printf("%s\n", ErrorStr());
+}
+
+const char* XMLDocument::ErrorName() const
+{
+    return ErrorIDToName(_errorID);
+}
+
+void XMLDocument::Parse()
+{
+    TIXMLASSERT( NoChildren() ); // Clear() must have been called previously
+    TIXMLASSERT( _charBuffer );
+    _parseCurLineNum = 1;
+    _parseLineNum = 1;
+    char* p = _charBuffer;
+    p = XMLUtil::SkipWhiteSpace( p, &_parseCurLineNum );
+    p = const_cast( XMLUtil::ReadBOM( p, &_writeBOM ) );
+    if ( !*p ) {
+        SetError( XML_ERROR_EMPTY_DOCUMENT, 0, 0 );
+        return;
+    }
+    ParseDeep(p, 0, &_parseCurLineNum );
+}
+
+void XMLDocument::PushDepth()
+{
+	_parsingDepth++;
+	if (_parsingDepth == TINYXML2_MAX_ELEMENT_DEPTH) {
+		SetError(XML_ELEMENT_DEPTH_EXCEEDED, _parseCurLineNum, "Element nesting is too deep." );
+	}
+}
+
+void XMLDocument::PopDepth()
+{
+	TIXMLASSERT(_parsingDepth > 0);
+	--_parsingDepth;
+}
+
+XMLPrinter::XMLPrinter( FILE* file, bool compact, int depth ) :
+    _elementJustOpened( false ),
+    _stack(),
+    _firstElement( true ),
+    _fp( file ),
+    _depth( depth ),
+    _textDepth( -1 ),
+    _processEntities( true ),
+    _compactMode( compact ),
+    _buffer()
+{
+    for( int i=0; i(entityValue);
+        TIXMLASSERT( flagIndex < ENTITY_RANGE );
+        _entityFlag[flagIndex] = true;
+    }
+    _restrictedEntityFlag[static_cast('&')] = true;
+    _restrictedEntityFlag[static_cast('<')] = true;
+    _restrictedEntityFlag[static_cast('>')] = true;	// not required, but consistency is nice
+    _buffer.Push( 0 );
+}
+
+
+void XMLPrinter::Print( const char* format, ... )
+{
+    va_list     va;
+    va_start( va, format );
+
+    if ( _fp ) {
+        vfprintf( _fp, format, va );
+    }
+    else {
+        const int len = TIXML_VSCPRINTF( format, va );
+        // Close out and re-start the va-args
+        va_end( va );
+        TIXMLASSERT( len >= 0 );
+        va_start( va, format );
+        TIXMLASSERT( _buffer.Size() > 0 && _buffer[_buffer.Size() - 1] == 0 );
+        char* p = _buffer.PushArr( len ) - 1;	// back up over the null terminator.
+		TIXML_VSNPRINTF( p, len+1, format, va );
+    }
+    va_end( va );
+}
+
+
+void XMLPrinter::Write( const char* data, size_t size )
+{
+    if ( _fp ) {
+        fwrite ( data , sizeof(char), size, _fp);
+    }
+    else {
+        char* p = _buffer.PushArr( static_cast(size) ) - 1;   // back up over the null terminator.
+        memcpy( p, data, size );
+        p[size] = 0;
+    }
+}
+
+
+void XMLPrinter::Putc( char ch )
+{
+    if ( _fp ) {
+        fputc ( ch, _fp);
+    }
+    else {
+        char* p = _buffer.PushArr( sizeof(char) ) - 1;   // back up over the null terminator.
+        p[0] = ch;
+        p[1] = 0;
+    }
+}
+
+
+void XMLPrinter::PrintSpace( int depth )
+{
+    for( int i=0; i 0 && *q < ENTITY_RANGE ) {
+                // Check for entities. If one is found, flush
+                // the stream up until the entity, write the
+                // entity, and keep looking.
+                if ( flag[static_cast(*q)] ) {
+                    while ( p < q ) {
+                        const size_t delta = q - p;
+                        const int toPrint = ( INT_MAX < delta ) ? INT_MAX : static_cast(delta);
+                        Write( p, toPrint );
+                        p += toPrint;
+                    }
+                    bool entityPatternPrinted = false;
+                    for( int i=0; i(delta);
+            Write( p, toPrint );
+        }
+    }
+    else {
+        Write( p );
+    }
+}
+
+
+void XMLPrinter::PushHeader( bool writeBOM, bool writeDec )
+{
+    if ( writeBOM ) {
+        static const unsigned char bom[] = { TIXML_UTF_LEAD_0, TIXML_UTF_LEAD_1, TIXML_UTF_LEAD_2, 0 };
+        Write( reinterpret_cast< const char* >( bom ) );
+    }
+    if ( writeDec ) {
+        PushDeclaration( "xml version=\"1.0\"" );
+    }
+}
+
+void XMLPrinter::PrepareForNewNode( bool compactMode )
+{
+    SealElementIfJustOpened();
+
+    if ( compactMode ) {
+        return;
+    }
+
+    if ( _firstElement ) {
+        PrintSpace (_depth);
+    } else if ( _textDepth < 0) {
+        Putc( '\n' );
+        PrintSpace( _depth );
+    }
+
+    _firstElement = false;
+}
+
+void XMLPrinter::OpenElement( const char* name, bool compactMode )
+{
+    PrepareForNewNode( compactMode );
+    _stack.Push( name );
+
+    Write ( "<" );
+    Write ( name );
+
+    _elementJustOpened = true;
+    ++_depth;
+}
+
+
+void XMLPrinter::PushAttribute( const char* name, const char* value )
+{
+    TIXMLASSERT( _elementJustOpened );
+    Putc ( ' ' );
+    Write( name );
+    Write( "=\"" );
+    PrintString( value, false );
+    Putc ( '\"' );
+}
+
+
+void XMLPrinter::PushAttribute( const char* name, int v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    PushAttribute( name, buf );
+}
+
+
+void XMLPrinter::PushAttribute( const char* name, unsigned v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    PushAttribute( name, buf );
+}
+
+
+void XMLPrinter::PushAttribute(const char* name, int64_t v)
+{
+	char buf[BUF_SIZE];
+	XMLUtil::ToStr(v, buf, BUF_SIZE);
+	PushAttribute(name, buf);
+}
+
+
+void XMLPrinter::PushAttribute(const char* name, uint64_t v)
+{
+	char buf[BUF_SIZE];
+	XMLUtil::ToStr(v, buf, BUF_SIZE);
+	PushAttribute(name, buf);
+}
+
+
+void XMLPrinter::PushAttribute( const char* name, bool v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    PushAttribute( name, buf );
+}
+
+
+void XMLPrinter::PushAttribute( const char* name, double v )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( v, buf, BUF_SIZE );
+    PushAttribute( name, buf );
+}
+
+
+void XMLPrinter::CloseElement( bool compactMode )
+{
+    --_depth;
+    const char* name = _stack.Pop();
+
+    if ( _elementJustOpened ) {
+        Write( "/>" );
+    }
+    else {
+        if ( _textDepth < 0 && !compactMode) {
+            Putc( '\n' );
+            PrintSpace( _depth );
+        }
+        Write ( "" );
+    }
+
+    if ( _textDepth == _depth ) {
+        _textDepth = -1;
+    }
+    if ( _depth == 0 && !compactMode) {
+        Putc( '\n' );
+    }
+    _elementJustOpened = false;
+}
+
+
+void XMLPrinter::SealElementIfJustOpened()
+{
+    if ( !_elementJustOpened ) {
+        return;
+    }
+    _elementJustOpened = false;
+    Putc( '>' );
+}
+
+
+void XMLPrinter::PushText( const char* text, bool cdata )
+{
+    _textDepth = _depth-1;
+
+    SealElementIfJustOpened();
+    if ( cdata ) {
+        Write( "" );
+    }
+    else {
+        PrintString( text, true );
+    }
+}
+
+
+void XMLPrinter::PushText( int64_t value )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( value, buf, BUF_SIZE );
+    PushText( buf, false );
+}
+
+
+void XMLPrinter::PushText( uint64_t value )
+{
+	char buf[BUF_SIZE];
+	XMLUtil::ToStr(value, buf, BUF_SIZE);
+	PushText(buf, false);
+}
+
+
+void XMLPrinter::PushText( int value )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( value, buf, BUF_SIZE );
+    PushText( buf, false );
+}
+
+
+void XMLPrinter::PushText( unsigned value )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( value, buf, BUF_SIZE );
+    PushText( buf, false );
+}
+
+
+void XMLPrinter::PushText( bool value )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( value, buf, BUF_SIZE );
+    PushText( buf, false );
+}
+
+
+void XMLPrinter::PushText( float value )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( value, buf, BUF_SIZE );
+    PushText( buf, false );
+}
+
+
+void XMLPrinter::PushText( double value )
+{
+    char buf[BUF_SIZE];
+    XMLUtil::ToStr( value, buf, BUF_SIZE );
+    PushText( buf, false );
+}
+
+
+void XMLPrinter::PushComment( const char* comment )
+{
+    PrepareForNewNode( _compactMode );
+
+    Write( "" );
+}
+
+
+void XMLPrinter::PushDeclaration( const char* value )
+{
+    PrepareForNewNode( _compactMode );
+
+    Write( "" );
+}
+
+
+void XMLPrinter::PushUnknown( const char* value )
+{
+    PrepareForNewNode( _compactMode );
+
+    Write( "' );
+}
+
+
+bool XMLPrinter::VisitEnter( const XMLDocument& doc )
+{
+    _processEntities = doc.ProcessEntities();
+    if ( doc.HasBOM() ) {
+        PushHeader( true, false );
+    }
+    return true;
+}
+
+
+bool XMLPrinter::VisitEnter( const XMLElement& element, const XMLAttribute* attribute )
+{
+    const XMLElement* parentElem = 0;
+    if ( element.Parent() ) {
+        parentElem = element.Parent()->ToElement();
+    }
+    const bool compactMode = parentElem ? CompactMode( *parentElem ) : _compactMode;
+    OpenElement( element.Name(), compactMode );
+    while ( attribute ) {
+        PushAttribute( attribute->Name(), attribute->Value() );
+        attribute = attribute->Next();
+    }
+    return true;
+}
+
+
+bool XMLPrinter::VisitExit( const XMLElement& element )
+{
+    CloseElement( CompactMode(element) );
+    return true;
+}
+
+
+bool XMLPrinter::Visit( const XMLText& text )
+{
+    PushText( text.Value(), text.CData() );
+    return true;
+}
+
+
+bool XMLPrinter::Visit( const XMLComment& comment )
+{
+    PushComment( comment.Value() );
+    return true;
+}
+
+bool XMLPrinter::Visit( const XMLDeclaration& declaration )
+{
+    PushDeclaration( declaration.Value() );
+    return true;
+}
+
+
+bool XMLPrinter::Visit( const XMLUnknown& unknown )
+{
+    PushUnknown( unknown.Value() );
+    return true;
+}
+
+}   // namespace tinyxml2
diff --git a/VrUtils/tinyxml2/tinyxml2.h b/VrUtils/tinyxml2/tinyxml2.h
new file mode 100644
index 0000000..36f8548
--- /dev/null
+++ b/VrUtils/tinyxml2/tinyxml2.h
@@ -0,0 +1,2380 @@
+/*
+Original code by Lee Thomason (www.grinninglizard.com)
+
+This software is provided 'as-is', without any express or implied
+warranty. In no event will the authors be held liable for any
+damages arising from the use of this software.
+
+Permission is granted to anyone to use this software for any
+purpose, including commercial applications, and to alter it and
+redistribute it freely, subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must
+not claim that you wrote the original software. If you use this
+software in a product, an acknowledgment in the product documentation
+would be appreciated but is not required.
+
+2. Altered source versions must be plainly marked as such, and
+must not be misrepresented as being the original software.
+
+3. This notice may not be removed or altered from any source
+distribution.
+*/
+
+#ifndef TINYXML2_INCLUDED
+#define TINYXML2_INCLUDED
+
+#if defined(ANDROID_NDK) || defined(__BORLANDC__) || defined(__QNXNTO__)
+#   include 
+#   include 
+#   include 
+#   include 
+#   include 
+#	if defined(__PS3__)
+#		include 
+#	endif
+#else
+#   include 
+#   include 
+#   include 
+#   include 
+#   include 
+#endif
+#include 
+
+/*
+   TODO: intern strings instead of allocation.
+*/
+/*
+	gcc:
+        g++ -Wall -DTINYXML2_DEBUG tinyxml2.cpp xmltest.cpp -o gccxmltest.exe
+
+    Formatting, Artistic Style:
+        AStyle.exe --style=1tbs --indent-switches --break-closing-brackets --indent-preprocessor tinyxml2.cpp tinyxml2.h
+*/
+
+#if defined( _DEBUG ) || defined (__DEBUG__)
+#   ifndef TINYXML2_DEBUG
+#       define TINYXML2_DEBUG
+#   endif
+#endif
+
+#ifdef _MSC_VER
+#   pragma warning(push)
+#   pragma warning(disable: 4251)
+#endif
+
+#ifdef _WIN32
+#   ifdef TINYXML2_EXPORT
+#       define TINYXML2_LIB __declspec(dllexport)
+#   elif defined(TINYXML2_IMPORT)
+#       define TINYXML2_LIB __declspec(dllimport)
+#   else
+#       define TINYXML2_LIB
+#   endif
+#elif __GNUC__ >= 4
+#   define TINYXML2_LIB __attribute__((visibility("default")))
+#else
+#   define TINYXML2_LIB
+#endif
+
+
+#if !defined(TIXMLASSERT)
+#if defined(TINYXML2_DEBUG)
+#   if defined(_MSC_VER)
+#       // "(void)0," is for suppressing C4127 warning in "assert(false)", "assert(true)" and the like
+#       define TIXMLASSERT( x )           if ( !((void)0,(x))) { __debugbreak(); }
+#   elif defined (ANDROID_NDK)
+#       include 
+#       define TIXMLASSERT( x )           if ( !(x)) { __android_log_assert( "assert", "grinliz", "ASSERT in '%s' at %d.", __FILE__, __LINE__ ); }
+#   else
+#       include 
+#       define TIXMLASSERT                assert
+#   endif
+#else
+#   define TIXMLASSERT( x )               {}
+#endif
+#endif
+
+/* Versioning, past 1.0.14:
+	http://semver.org/
+*/
+static const int TIXML2_MAJOR_VERSION = 9;
+static const int TIXML2_MINOR_VERSION = 0;
+static const int TIXML2_PATCH_VERSION = 0;
+
+#define TINYXML2_MAJOR_VERSION 9
+#define TINYXML2_MINOR_VERSION 0
+#define TINYXML2_PATCH_VERSION 0
+
+// A fixed element depth limit is problematic. There needs to be a
+// limit to avoid a stack overflow. However, that limit varies per
+// system, and the capacity of the stack. On the other hand, it's a trivial
+// attack that can result from ill, malicious, or even correctly formed XML,
+// so there needs to be a limit in place.
+static const int TINYXML2_MAX_ELEMENT_DEPTH = 100;
+
+namespace tinyxml2
+{
+class XMLDocument;
+class XMLElement;
+class XMLAttribute;
+class XMLComment;
+class XMLText;
+class XMLDeclaration;
+class XMLUnknown;
+class XMLPrinter;
+
+/*
+	A class that wraps strings. Normally stores the start and end
+	pointers into the XML file itself, and will apply normalization
+	and entity translation if actually read. Can also store (and memory
+	manage) a traditional char[]
+
+    Isn't clear why TINYXML2_LIB is needed; but seems to fix #719
+*/
+class TINYXML2_LIB StrPair
+{
+public:
+    enum Mode {
+        NEEDS_ENTITY_PROCESSING			= 0x01,
+        NEEDS_NEWLINE_NORMALIZATION		= 0x02,
+        NEEDS_WHITESPACE_COLLAPSING     = 0x04,
+
+        TEXT_ELEMENT		            = NEEDS_ENTITY_PROCESSING | NEEDS_NEWLINE_NORMALIZATION,
+        TEXT_ELEMENT_LEAVE_ENTITIES		= NEEDS_NEWLINE_NORMALIZATION,
+        ATTRIBUTE_NAME		            = 0,
+        ATTRIBUTE_VALUE		            = NEEDS_ENTITY_PROCESSING | NEEDS_NEWLINE_NORMALIZATION,
+        ATTRIBUTE_VALUE_LEAVE_ENTITIES  = NEEDS_NEWLINE_NORMALIZATION,
+        COMMENT							= NEEDS_NEWLINE_NORMALIZATION
+    };
+
+    StrPair() : _flags( 0 ), _start( 0 ), _end( 0 ) {}
+    ~StrPair();
+
+    void Set( char* start, char* end, int flags ) {
+        TIXMLASSERT( start );
+        TIXMLASSERT( end );
+        Reset();
+        _start  = start;
+        _end    = end;
+        _flags  = flags | NEEDS_FLUSH;
+    }
+
+    const char* GetStr();
+
+    bool Empty() const {
+        return _start == _end;
+    }
+
+    void SetInternedStr( const char* str ) {
+        Reset();
+        _start = const_cast(str);
+    }
+
+    void SetStr( const char* str, int flags=0 );
+
+    char* ParseText( char* in, const char* endTag, int strFlags, int* curLineNumPtr );
+    char* ParseName( char* in );
+
+    void TransferTo( StrPair* other );
+	void Reset();
+
+private:
+    void CollapseWhitespace();
+
+    enum {
+        NEEDS_FLUSH = 0x100,
+        NEEDS_DELETE = 0x200
+    };
+
+    int     _flags;
+    char*   _start;
+    char*   _end;
+
+    StrPair( const StrPair& other );	// not supported
+    void operator=( const StrPair& other );	// not supported, use TransferTo()
+};
+
+
+/*
+	A dynamic array of Plain Old Data. Doesn't support constructors, etc.
+	Has a small initial memory pool, so that low or no usage will not
+	cause a call to new/delete
+*/
+template 
+class DynArray
+{
+public:
+    DynArray() :
+        _mem( _pool ),
+        _allocated( INITIAL_SIZE ),
+        _size( 0 )
+    {
+    }
+
+    ~DynArray() {
+        if ( _mem != _pool ) {
+            delete [] _mem;
+        }
+    }
+
+    void Clear() {
+        _size = 0;
+    }
+
+    void Push( T t ) {
+        TIXMLASSERT( _size < INT_MAX );
+        EnsureCapacity( _size+1 );
+        _mem[_size] = t;
+        ++_size;
+    }
+
+    T* PushArr( int count ) {
+        TIXMLASSERT( count >= 0 );
+        TIXMLASSERT( _size <= INT_MAX - count );
+        EnsureCapacity( _size+count );
+        T* ret = &_mem[_size];
+        _size += count;
+        return ret;
+    }
+
+    T Pop() {
+        TIXMLASSERT( _size > 0 );
+        --_size;
+        return _mem[_size];
+    }
+
+    void PopArr( int count ) {
+        TIXMLASSERT( _size >= count );
+        _size -= count;
+    }
+
+    bool Empty() const					{
+        return _size == 0;
+    }
+
+    T& operator[](int i)				{
+        TIXMLASSERT( i>= 0 && i < _size );
+        return _mem[i];
+    }
+
+    const T& operator[](int i) const	{
+        TIXMLASSERT( i>= 0 && i < _size );
+        return _mem[i];
+    }
+
+    const T& PeekTop() const            {
+        TIXMLASSERT( _size > 0 );
+        return _mem[ _size - 1];
+    }
+
+    int Size() const					{
+        TIXMLASSERT( _size >= 0 );
+        return _size;
+    }
+
+    int Capacity() const				{
+        TIXMLASSERT( _allocated >= INITIAL_SIZE );
+        return _allocated;
+    }
+
+	void SwapRemove(int i) {
+		TIXMLASSERT(i >= 0 && i < _size);
+		TIXMLASSERT(_size > 0);
+		_mem[i] = _mem[_size - 1];
+		--_size;
+	}
+
+    const T* Mem() const				{
+        TIXMLASSERT( _mem );
+        return _mem;
+    }
+
+    T* Mem() {
+        TIXMLASSERT( _mem );
+        return _mem;
+    }
+
+private:
+    DynArray( const DynArray& ); // not supported
+    void operator=( const DynArray& ); // not supported
+
+    void EnsureCapacity( int cap ) {
+        TIXMLASSERT( cap > 0 );
+        if ( cap > _allocated ) {
+            TIXMLASSERT( cap <= INT_MAX / 2 );
+            const int newAllocated = cap * 2;
+            T* newMem = new T[newAllocated];
+            TIXMLASSERT( newAllocated >= _size );
+            memcpy( newMem, _mem, sizeof(T)*_size );	// warning: not using constructors, only works for PODs
+            if ( _mem != _pool ) {
+                delete [] _mem;
+            }
+            _mem = newMem;
+            _allocated = newAllocated;
+        }
+    }
+
+    T*  _mem;
+    T   _pool[INITIAL_SIZE];
+    int _allocated;		// objects allocated
+    int _size;			// number objects in use
+};
+
+
+/*
+	Parent virtual class of a pool for fast allocation
+	and deallocation of objects.
+*/
+class MemPool
+{
+public:
+    MemPool() {}
+    virtual ~MemPool() {}
+
+    virtual int ItemSize() const = 0;
+    virtual void* Alloc() = 0;
+    virtual void Free( void* ) = 0;
+    virtual void SetTracked() = 0;
+};
+
+
+/*
+	Template child class to create pools of the correct type.
+*/
+template< int ITEM_SIZE >
+class MemPoolT : public MemPool
+{
+public:
+    MemPoolT() : _blockPtrs(), _root(0), _currentAllocs(0), _nAllocs(0), _maxAllocs(0), _nUntracked(0)	{}
+    ~MemPoolT() {
+        MemPoolT< ITEM_SIZE >::Clear();
+    }
+
+    void Clear() {
+        // Delete the blocks.
+        while( !_blockPtrs.Empty()) {
+            Block* lastBlock = _blockPtrs.Pop();
+            delete lastBlock;
+        }
+        _root = 0;
+        _currentAllocs = 0;
+        _nAllocs = 0;
+        _maxAllocs = 0;
+        _nUntracked = 0;
+    }
+
+    virtual int ItemSize() const	{
+        return ITEM_SIZE;
+    }
+    int CurrentAllocs() const		{
+        return _currentAllocs;
+    }
+
+    virtual void* Alloc() {
+        if ( !_root ) {
+            // Need a new block.
+            Block* block = new Block();
+            _blockPtrs.Push( block );
+
+            Item* blockItems = block->items;
+            for( int i = 0; i < ITEMS_PER_BLOCK - 1; ++i ) {
+                blockItems[i].next = &(blockItems[i + 1]);
+            }
+            blockItems[ITEMS_PER_BLOCK - 1].next = 0;
+            _root = blockItems;
+        }
+        Item* const result = _root;
+        TIXMLASSERT( result != 0 );
+        _root = _root->next;
+
+        ++_currentAllocs;
+        if ( _currentAllocs > _maxAllocs ) {
+            _maxAllocs = _currentAllocs;
+        }
+        ++_nAllocs;
+        ++_nUntracked;
+        return result;
+    }
+
+    virtual void Free( void* mem ) {
+        if ( !mem ) {
+            return;
+        }
+        --_currentAllocs;
+        Item* item = static_cast( mem );
+#ifdef TINYXML2_DEBUG
+        memset( item, 0xfe, sizeof( *item ) );
+#endif
+        item->next = _root;
+        _root = item;
+    }
+    void Trace( const char* name ) {
+        printf( "Mempool %s watermark=%d [%dk] current=%d size=%d nAlloc=%d blocks=%d\n",
+                name, _maxAllocs, _maxAllocs * ITEM_SIZE / 1024, _currentAllocs,
+                ITEM_SIZE, _nAllocs, _blockPtrs.Size() );
+    }
+
+    void SetTracked() {
+        --_nUntracked;
+    }
+
+    int Untracked() const {
+        return _nUntracked;
+    }
+
+	// This number is perf sensitive. 4k seems like a good tradeoff on my machine.
+	// The test file is large, 170k.
+	// Release:		VS2010 gcc(no opt)
+	//		1k:		4000
+	//		2k:		4000
+	//		4k:		3900	21000
+	//		16k:	5200
+	//		32k:	4300
+	//		64k:	4000	21000
+    // Declared public because some compilers do not accept to use ITEMS_PER_BLOCK
+    // in private part if ITEMS_PER_BLOCK is private
+    enum { ITEMS_PER_BLOCK = (4 * 1024) / ITEM_SIZE };
+
+private:
+    MemPoolT( const MemPoolT& ); // not supported
+    void operator=( const MemPoolT& ); // not supported
+
+    union Item {
+        Item*   next;
+        char    itemData[ITEM_SIZE];
+    };
+    struct Block {
+        Item items[ITEMS_PER_BLOCK];
+    };
+    DynArray< Block*, 10 > _blockPtrs;
+    Item* _root;
+
+    int _currentAllocs;
+    int _nAllocs;
+    int _maxAllocs;
+    int _nUntracked;
+};
+
+
+
+/**
+	Implements the interface to the "Visitor pattern" (see the Accept() method.)
+	If you call the Accept() method, it requires being passed a XMLVisitor
+	class to handle callbacks. For nodes that contain other nodes (Document, Element)
+	you will get called with a VisitEnter/VisitExit pair. Nodes that are always leafs
+	are simply called with Visit().
+
+	If you return 'true' from a Visit method, recursive parsing will continue. If you return
+	false, no children of this node or its siblings will be visited.
+
+	All flavors of Visit methods have a default implementation that returns 'true' (continue
+	visiting). You need to only override methods that are interesting to you.
+
+	Generally Accept() is called on the XMLDocument, although all nodes support visiting.
+
+	You should never change the document from a callback.
+
+	@sa XMLNode::Accept()
+*/
+class TINYXML2_LIB XMLVisitor
+{
+public:
+    virtual ~XMLVisitor() {}
+
+    /// Visit a document.
+    virtual bool VisitEnter( const XMLDocument& /*doc*/ )			{
+        return true;
+    }
+    /// Visit a document.
+    virtual bool VisitExit( const XMLDocument& /*doc*/ )			{
+        return true;
+    }
+
+    /// Visit an element.
+    virtual bool VisitEnter( const XMLElement& /*element*/, const XMLAttribute* /*firstAttribute*/ )	{
+        return true;
+    }
+    /// Visit an element.
+    virtual bool VisitExit( const XMLElement& /*element*/ )			{
+        return true;
+    }
+
+    /// Visit a declaration.
+    virtual bool Visit( const XMLDeclaration& /*declaration*/ )		{
+        return true;
+    }
+    /// Visit a text node.
+    virtual bool Visit( const XMLText& /*text*/ )					{
+        return true;
+    }
+    /// Visit a comment node.
+    virtual bool Visit( const XMLComment& /*comment*/ )				{
+        return true;
+    }
+    /// Visit an unknown node.
+    virtual bool Visit( const XMLUnknown& /*unknown*/ )				{
+        return true;
+    }
+};
+
+// WARNING: must match XMLDocument::_errorNames[]
+enum XMLError {
+    XML_SUCCESS = 0,
+    XML_NO_ATTRIBUTE,
+    XML_WRONG_ATTRIBUTE_TYPE,
+    XML_ERROR_FILE_NOT_FOUND,
+    XML_ERROR_FILE_COULD_NOT_BE_OPENED,
+    XML_ERROR_FILE_READ_ERROR,
+    XML_ERROR_PARSING_ELEMENT,
+    XML_ERROR_PARSING_ATTRIBUTE,
+    XML_ERROR_PARSING_TEXT,
+    XML_ERROR_PARSING_CDATA,
+    XML_ERROR_PARSING_COMMENT,
+    XML_ERROR_PARSING_DECLARATION,
+    XML_ERROR_PARSING_UNKNOWN,
+    XML_ERROR_EMPTY_DOCUMENT,
+    XML_ERROR_MISMATCHED_ELEMENT,
+    XML_ERROR_PARSING,
+    XML_CAN_NOT_CONVERT_TEXT,
+    XML_NO_TEXT_NODE,
+	XML_ELEMENT_DEPTH_EXCEEDED,
+
+	XML_ERROR_COUNT
+};
+
+
+/*
+	Utility functionality.
+*/
+class TINYXML2_LIB XMLUtil
+{
+public:
+    static const char* SkipWhiteSpace( const char* p, int* curLineNumPtr )	{
+        TIXMLASSERT( p );
+
+        while( IsWhiteSpace(*p) ) {
+            if (curLineNumPtr && *p == '\n') {
+                ++(*curLineNumPtr);
+            }
+            ++p;
+        }
+        TIXMLASSERT( p );
+        return p;
+    }
+    static char* SkipWhiteSpace( char* const p, int* curLineNumPtr ) {
+        return const_cast( SkipWhiteSpace( const_cast(p), curLineNumPtr ) );
+    }
+
+    // Anything in the high order range of UTF-8 is assumed to not be whitespace. This isn't
+    // correct, but simple, and usually works.
+    static bool IsWhiteSpace( char p )					{
+        return !IsUTF8Continuation(p) && isspace( static_cast(p) );
+    }
+
+    inline static bool IsNameStartChar( unsigned char ch ) {
+        if ( ch >= 128 ) {
+            // This is a heuristic guess in attempt to not implement Unicode-aware isalpha()
+            return true;
+        }
+        if ( isalpha( ch ) ) {
+            return true;
+        }
+        return ch == ':' || ch == '_';
+    }
+
+    inline static bool IsNameChar( unsigned char ch ) {
+        return IsNameStartChar( ch )
+               || isdigit( ch )
+               || ch == '.'
+               || ch == '-';
+    }
+
+    inline static bool IsPrefixHex( const char* p) {
+        p = SkipWhiteSpace(p, 0);
+        return p && *p == '0' && ( *(p + 1) == 'x' || *(p + 1) == 'X');
+    }
+
+    inline static bool StringEqual( const char* p, const char* q, int nChar=INT_MAX )  {
+        if ( p == q ) {
+            return true;
+        }
+        TIXMLASSERT( p );
+        TIXMLASSERT( q );
+        TIXMLASSERT( nChar >= 0 );
+        return strncmp( p, q, nChar ) == 0;
+    }
+
+    inline static bool IsUTF8Continuation( const char p ) {
+        return ( p & 0x80 ) != 0;
+    }
+
+    static const char* ReadBOM( const char* p, bool* hasBOM );
+    // p is the starting location,
+    // the UTF-8 value of the entity will be placed in value, and length filled in.
+    static const char* GetCharacterRef( const char* p, char* value, int* length );
+    static void ConvertUTF32ToUTF8( unsigned long input, char* output, int* length );
+
+    // converts primitive types to strings
+    static void ToStr( int v, char* buffer, int bufferSize );
+    static void ToStr( unsigned v, char* buffer, int bufferSize );
+    static void ToStr( bool v, char* buffer, int bufferSize );
+    static void ToStr( float v, char* buffer, int bufferSize );
+    static void ToStr( double v, char* buffer, int bufferSize );
+	static void ToStr(int64_t v, char* buffer, int bufferSize);
+    static void ToStr(uint64_t v, char* buffer, int bufferSize);
+
+    // converts strings to primitive types
+    static bool	ToInt( const char* str, int* value );
+    static bool ToUnsigned( const char* str, unsigned* value );
+    static bool	ToBool( const char* str, bool* value );
+    static bool	ToFloat( const char* str, float* value );
+    static bool ToDouble( const char* str, double* value );
+	static bool ToInt64(const char* str, int64_t* value);
+    static bool ToUnsigned64(const char* str, uint64_t* value);
+	// Changes what is serialized for a boolean value.
+	// Default to "true" and "false". Shouldn't be changed
+	// unless you have a special testing or compatibility need.
+	// Be careful: static, global, & not thread safe.
+	// Be sure to set static const memory as parameters.
+	static void SetBoolSerialization(const char* writeTrue, const char* writeFalse);
+
+private:
+	static const char* writeBoolTrue;
+	static const char* writeBoolFalse;
+};
+
+
+/** XMLNode is a base class for every object that is in the
+	XML Document Object Model (DOM), except XMLAttributes.
+	Nodes have siblings, a parent, and children which can
+	be navigated. A node is always in a XMLDocument.
+	The type of a XMLNode can be queried, and it can
+	be cast to its more defined type.
+
+	A XMLDocument allocates memory for all its Nodes.
+	When the XMLDocument gets deleted, all its Nodes
+	will also be deleted.
+
+	@verbatim
+	A Document can contain:	Element	(container or leaf)
+							Comment (leaf)
+							Unknown (leaf)
+							Declaration( leaf )
+
+	An Element can contain:	Element (container or leaf)
+							Text	(leaf)
+							Attributes (not on tree)
+							Comment (leaf)
+							Unknown (leaf)
+
+	@endverbatim
+*/
+class TINYXML2_LIB XMLNode
+{
+    friend class XMLDocument;
+    friend class XMLElement;
+public:
+
+    /// Get the XMLDocument that owns this XMLNode.
+    const XMLDocument* GetDocument() const	{
+        TIXMLASSERT( _document );
+        return _document;
+    }
+    /// Get the XMLDocument that owns this XMLNode.
+    XMLDocument* GetDocument()				{
+        TIXMLASSERT( _document );
+        return _document;
+    }
+
+    /// Safely cast to an Element, or null.
+    virtual XMLElement*		ToElement()		{
+        return 0;
+    }
+    /// Safely cast to Text, or null.
+    virtual XMLText*		ToText()		{
+        return 0;
+    }
+    /// Safely cast to a Comment, or null.
+    virtual XMLComment*		ToComment()		{
+        return 0;
+    }
+    /// Safely cast to a Document, or null.
+    virtual XMLDocument*	ToDocument()	{
+        return 0;
+    }
+    /// Safely cast to a Declaration, or null.
+    virtual XMLDeclaration*	ToDeclaration()	{
+        return 0;
+    }
+    /// Safely cast to an Unknown, or null.
+    virtual XMLUnknown*		ToUnknown()		{
+        return 0;
+    }
+
+    virtual const XMLElement*		ToElement() const		{
+        return 0;
+    }
+    virtual const XMLText*			ToText() const			{
+        return 0;
+    }
+    virtual const XMLComment*		ToComment() const		{
+        return 0;
+    }
+    virtual const XMLDocument*		ToDocument() const		{
+        return 0;
+    }
+    virtual const XMLDeclaration*	ToDeclaration() const	{
+        return 0;
+    }
+    virtual const XMLUnknown*		ToUnknown() const		{
+        return 0;
+    }
+
+    /** The meaning of 'value' changes for the specific type.
+    	@verbatim
+    	Document:	empty (NULL is returned, not an empty string)
+    	Element:	name of the element
+    	Comment:	the comment text
+    	Unknown:	the tag contents
+    	Text:		the text string
+    	@endverbatim
+    */
+    const char* Value() const;
+
+    /** Set the Value of an XML node.
+    	@sa Value()
+    */
+    void SetValue( const char* val, bool staticMem=false );
+
+    /// Gets the line number the node is in, if the document was parsed from a file.
+    int GetLineNum() const { return _parseLineNum; }
+
+    /// Get the parent of this node on the DOM.
+    const XMLNode*	Parent() const			{
+        return _parent;
+    }
+
+    XMLNode* Parent()						{
+        return _parent;
+    }
+
+    /// Returns true if this node has no children.
+    bool NoChildren() const					{
+        return !_firstChild;
+    }
+
+    /// Get the first child node, or null if none exists.
+    const XMLNode*  FirstChild() const		{
+        return _firstChild;
+    }
+
+    XMLNode*		FirstChild()			{
+        return _firstChild;
+    }
+
+    /** Get the first child element, or optionally the first child
+        element with the specified name.
+    */
+    const XMLElement* FirstChildElement( const char* name = 0 ) const;
+
+    XMLElement* FirstChildElement( const char* name = 0 )	{
+        return const_cast(const_cast(this)->FirstChildElement( name ));
+    }
+
+    /// Get the last child node, or null if none exists.
+    const XMLNode*	LastChild() const						{
+        return _lastChild;
+    }
+
+    XMLNode*		LastChild()								{
+        return _lastChild;
+    }
+
+    /** Get the last child element or optionally the last child
+        element with the specified name.
+    */
+    const XMLElement* LastChildElement( const char* name = 0 ) const;
+
+    XMLElement* LastChildElement( const char* name = 0 )	{
+        return const_cast(const_cast(this)->LastChildElement(name) );
+    }
+
+    /// Get the previous (left) sibling node of this node.
+    const XMLNode*	PreviousSibling() const					{
+        return _prev;
+    }
+
+    XMLNode*	PreviousSibling()							{
+        return _prev;
+    }
+
+    /// Get the previous (left) sibling element of this node, with an optionally supplied name.
+    const XMLElement*	PreviousSiblingElement( const char* name = 0 ) const ;
+
+    XMLElement*	PreviousSiblingElement( const char* name = 0 ) {
+        return const_cast(const_cast(this)->PreviousSiblingElement( name ) );
+    }
+
+    /// Get the next (right) sibling node of this node.
+    const XMLNode*	NextSibling() const						{
+        return _next;
+    }
+
+    XMLNode*	NextSibling()								{
+        return _next;
+    }
+
+    /// Get the next (right) sibling element of this node, with an optionally supplied name.
+    const XMLElement*	NextSiblingElement( const char* name = 0 ) const;
+
+    XMLElement*	NextSiblingElement( const char* name = 0 )	{
+        return const_cast(const_cast(this)->NextSiblingElement( name ) );
+    }
+
+    /**
+    	Add a child node as the last (right) child.
+		If the child node is already part of the document,
+		it is moved from its old location to the new location.
+		Returns the addThis argument or 0 if the node does not
+		belong to the same document.
+    */
+    XMLNode* InsertEndChild( XMLNode* addThis );
+
+    XMLNode* LinkEndChild( XMLNode* addThis )	{
+        return InsertEndChild( addThis );
+    }
+    /**
+    	Add a child node as the first (left) child.
+		If the child node is already part of the document,
+		it is moved from its old location to the new location.
+		Returns the addThis argument or 0 if the node does not
+		belong to the same document.
+    */
+    XMLNode* InsertFirstChild( XMLNode* addThis );
+    /**
+    	Add a node after the specified child node.
+		If the child node is already part of the document,
+		it is moved from its old location to the new location.
+		Returns the addThis argument or 0 if the afterThis node
+		is not a child of this node, or if the node does not
+		belong to the same document.
+    */
+    XMLNode* InsertAfterChild( XMLNode* afterThis, XMLNode* addThis );
+
+    /**
+    	Delete all the children of this node.
+    */
+    void DeleteChildren();
+
+    /**
+    	Delete a child of this node.
+    */
+    void DeleteChild( XMLNode* node );
+
+    /**
+    	Make a copy of this node, but not its children.
+    	You may pass in a Document pointer that will be
+    	the owner of the new Node. If the 'document' is
+    	null, then the node returned will be allocated
+    	from the current Document. (this->GetDocument())
+
+    	Note: if called on a XMLDocument, this will return null.
+    */
+    virtual XMLNode* ShallowClone( XMLDocument* document ) const = 0;
+
+	/**
+		Make a copy of this node and all its children.
+
+		If the 'target' is null, then the nodes will
+		be allocated in the current document. If 'target'
+        is specified, the memory will be allocated is the
+        specified XMLDocument.
+
+		NOTE: This is probably not the correct tool to
+		copy a document, since XMLDocuments can have multiple
+		top level XMLNodes. You probably want to use
+        XMLDocument::DeepCopy()
+	*/
+	XMLNode* DeepClone( XMLDocument* target ) const;
+
+    /**
+    	Test if 2 nodes are the same, but don't test children.
+    	The 2 nodes do not need to be in the same Document.
+
+    	Note: if called on a XMLDocument, this will return false.
+    */
+    virtual bool ShallowEqual( const XMLNode* compare ) const = 0;
+
+    /** Accept a hierarchical visit of the nodes in the TinyXML-2 DOM. Every node in the
+    	XML tree will be conditionally visited and the host will be called back
+    	via the XMLVisitor interface.
+
+    	This is essentially a SAX interface for TinyXML-2. (Note however it doesn't re-parse
+    	the XML for the callbacks, so the performance of TinyXML-2 is unchanged by using this
+    	interface versus any other.)
+
+    	The interface has been based on ideas from:
+
+    	- http://www.saxproject.org/
+    	- http://c2.com/cgi/wiki?HierarchicalVisitorPattern
+
+    	Which are both good references for "visiting".
+
+    	An example of using Accept():
+    	@verbatim
+    	XMLPrinter printer;
+    	tinyxmlDoc.Accept( &printer );
+    	const char* xmlcstr = printer.CStr();
+    	@endverbatim
+    */
+    virtual bool Accept( XMLVisitor* visitor ) const = 0;
+
+	/**
+		Set user data into the XMLNode. TinyXML-2 in
+		no way processes or interprets user data.
+		It is initially 0.
+	*/
+	void SetUserData(void* userData)	{ _userData = userData; }
+
+	/**
+		Get user data set into the XMLNode. TinyXML-2 in
+		no way processes or interprets user data.
+		It is initially 0.
+	*/
+	void* GetUserData() const			{ return _userData; }
+
+protected:
+    explicit XMLNode( XMLDocument* );
+    virtual ~XMLNode();
+
+    virtual char* ParseDeep( char* p, StrPair* parentEndTag, int* curLineNumPtr);
+
+    XMLDocument*	_document;
+    XMLNode*		_parent;
+    mutable StrPair	_value;
+    int             _parseLineNum;
+
+    XMLNode*		_firstChild;
+    XMLNode*		_lastChild;
+
+    XMLNode*		_prev;
+    XMLNode*		_next;
+
+	void*			_userData;
+
+private:
+    MemPool*		_memPool;
+    void Unlink( XMLNode* child );
+    static void DeleteNode( XMLNode* node );
+    void InsertChildPreamble( XMLNode* insertThis ) const;
+    const XMLElement* ToElementWithName( const char* name ) const;
+
+    XMLNode( const XMLNode& );	// not supported
+    XMLNode& operator=( const XMLNode& );	// not supported
+};
+
+
+/** XML text.
+
+	Note that a text node can have child element nodes, for example:
+	@verbatim
+	This is bold
+	@endverbatim
+
+	A text node can have 2 ways to output the next. "normal" output
+	and CDATA. It will default to the mode it was parsed from the XML file and
+	you generally want to leave it alone, but you can change the output mode with
+	SetCData() and query it with CData().
+*/
+class TINYXML2_LIB XMLText : public XMLNode
+{
+    friend class XMLDocument;
+public:
+    virtual bool Accept( XMLVisitor* visitor ) const;
+
+    virtual XMLText* ToText()			{
+        return this;
+    }
+    virtual const XMLText* ToText() const	{
+        return this;
+    }
+
+    /// Declare whether this should be CDATA or standard text.
+    void SetCData( bool isCData )			{
+        _isCData = isCData;
+    }
+    /// Returns true if this is a CDATA text element.
+    bool CData() const						{
+        return _isCData;
+    }
+
+    virtual XMLNode* ShallowClone( XMLDocument* document ) const;
+    virtual bool ShallowEqual( const XMLNode* compare ) const;
+
+protected:
+    explicit XMLText( XMLDocument* doc )	: XMLNode( doc ), _isCData( false )	{}
+    virtual ~XMLText()												{}
+
+    char* ParseDeep( char* p, StrPair* parentEndTag, int* curLineNumPtr );
+
+private:
+    bool _isCData;
+
+    XMLText( const XMLText& );	// not supported
+    XMLText& operator=( const XMLText& );	// not supported
+};
+
+
+/** An XML Comment. */
+class TINYXML2_LIB XMLComment : public XMLNode
+{
+    friend class XMLDocument;
+public:
+    virtual XMLComment*	ToComment()					{
+        return this;
+    }
+    virtual const XMLComment* ToComment() const		{
+        return this;
+    }
+
+    virtual bool Accept( XMLVisitor* visitor ) const;
+
+    virtual XMLNode* ShallowClone( XMLDocument* document ) const;
+    virtual bool ShallowEqual( const XMLNode* compare ) const;
+
+protected:
+    explicit XMLComment( XMLDocument* doc );
+    virtual ~XMLComment();
+
+    char* ParseDeep( char* p, StrPair* parentEndTag, int* curLineNumPtr);
+
+private:
+    XMLComment( const XMLComment& );	// not supported
+    XMLComment& operator=( const XMLComment& );	// not supported
+};
+
+
+/** In correct XML the declaration is the first entry in the file.
+	@verbatim
+		
+	@endverbatim
+
+	TinyXML-2 will happily read or write files without a declaration,
+	however.
+
+	The text of the declaration isn't interpreted. It is parsed
+	and written as a string.
+*/
+class TINYXML2_LIB XMLDeclaration : public XMLNode
+{
+    friend class XMLDocument;
+public:
+    virtual XMLDeclaration*	ToDeclaration()					{
+        return this;
+    }
+    virtual const XMLDeclaration* ToDeclaration() const		{
+        return this;
+    }
+
+    virtual bool Accept( XMLVisitor* visitor ) const;
+
+    virtual XMLNode* ShallowClone( XMLDocument* document ) const;
+    virtual bool ShallowEqual( const XMLNode* compare ) const;
+
+protected:
+    explicit XMLDeclaration( XMLDocument* doc );
+    virtual ~XMLDeclaration();
+
+    char* ParseDeep( char* p, StrPair* parentEndTag, int* curLineNumPtr );
+
+private:
+    XMLDeclaration( const XMLDeclaration& );	// not supported
+    XMLDeclaration& operator=( const XMLDeclaration& );	// not supported
+};
+
+
+/** Any tag that TinyXML-2 doesn't recognize is saved as an
+	unknown. It is a tag of text, but should not be modified.
+	It will be written back to the XML, unchanged, when the file
+	is saved.
+
+	DTD tags get thrown into XMLUnknowns.
+*/
+class TINYXML2_LIB XMLUnknown : public XMLNode
+{
+    friend class XMLDocument;
+public:
+    virtual XMLUnknown*	ToUnknown()					{
+        return this;
+    }
+    virtual const XMLUnknown* ToUnknown() const		{
+        return this;
+    }
+
+    virtual bool Accept( XMLVisitor* visitor ) const;
+
+    virtual XMLNode* ShallowClone( XMLDocument* document ) const;
+    virtual bool ShallowEqual( const XMLNode* compare ) const;
+
+protected:
+    explicit XMLUnknown( XMLDocument* doc );
+    virtual ~XMLUnknown();
+
+    char* ParseDeep( char* p, StrPair* parentEndTag, int* curLineNumPtr );
+
+private:
+    XMLUnknown( const XMLUnknown& );	// not supported
+    XMLUnknown& operator=( const XMLUnknown& );	// not supported
+};
+
+
+
+/** An attribute is a name-value pair. Elements have an arbitrary
+	number of attributes, each with a unique name.
+
+	@note The attributes are not XMLNodes. You may only query the
+	Next() attribute in a list.
+*/
+class TINYXML2_LIB XMLAttribute
+{
+    friend class XMLElement;
+public:
+    /// The name of the attribute.
+    const char* Name() const;
+
+    /// The value of the attribute.
+    const char* Value() const;
+
+    /// Gets the line number the attribute is in, if the document was parsed from a file.
+    int GetLineNum() const { return _parseLineNum; }
+
+    /// The next attribute in the list.
+    const XMLAttribute* Next() const {
+        return _next;
+    }
+
+    /** IntValue interprets the attribute as an integer, and returns the value.
+        If the value isn't an integer, 0 will be returned. There is no error checking;
+    	use QueryIntValue() if you need error checking.
+    */
+	int	IntValue() const {
+		int i = 0;
+		QueryIntValue(&i);
+		return i;
+	}
+
+	int64_t Int64Value() const {
+		int64_t i = 0;
+		QueryInt64Value(&i);
+		return i;
+	}
+
+    uint64_t Unsigned64Value() const {
+        uint64_t i = 0;
+        QueryUnsigned64Value(&i);
+        return i;
+    }
+
+    /// Query as an unsigned integer. See IntValue()
+    unsigned UnsignedValue() const			{
+        unsigned i=0;
+        QueryUnsignedValue( &i );
+        return i;
+    }
+    /// Query as a boolean. See IntValue()
+    bool	 BoolValue() const				{
+        bool b=false;
+        QueryBoolValue( &b );
+        return b;
+    }
+    /// Query as a double. See IntValue()
+    double 	 DoubleValue() const			{
+        double d=0;
+        QueryDoubleValue( &d );
+        return d;
+    }
+    /// Query as a float. See IntValue()
+    float	 FloatValue() const				{
+        float f=0;
+        QueryFloatValue( &f );
+        return f;
+    }
+
+    /** QueryIntValue interprets the attribute as an integer, and returns the value
+    	in the provided parameter. The function will return XML_SUCCESS on success,
+    	and XML_WRONG_ATTRIBUTE_TYPE if the conversion is not successful.
+    */
+    XMLError QueryIntValue( int* value ) const;
+    /// See QueryIntValue
+    XMLError QueryUnsignedValue( unsigned int* value ) const;
+	/// See QueryIntValue
+	XMLError QueryInt64Value(int64_t* value) const;
+    /// See QueryIntValue
+    XMLError QueryUnsigned64Value(uint64_t* value) const;
+	/// See QueryIntValue
+    XMLError QueryBoolValue( bool* value ) const;
+    /// See QueryIntValue
+    XMLError QueryDoubleValue( double* value ) const;
+    /// See QueryIntValue
+    XMLError QueryFloatValue( float* value ) const;
+
+    /// Set the attribute to a string value.
+    void SetAttribute( const char* value );
+    /// Set the attribute to value.
+    void SetAttribute( int value );
+    /// Set the attribute to value.
+    void SetAttribute( unsigned value );
+	/// Set the attribute to value.
+	void SetAttribute(int64_t value);
+    /// Set the attribute to value.
+    void SetAttribute(uint64_t value);
+    /// Set the attribute to value.
+    void SetAttribute( bool value );
+    /// Set the attribute to value.
+    void SetAttribute( double value );
+    /// Set the attribute to value.
+    void SetAttribute( float value );
+
+private:
+    enum { BUF_SIZE = 200 };
+
+    XMLAttribute() : _name(), _value(),_parseLineNum( 0 ), _next( 0 ), _memPool( 0 ) {}
+    virtual ~XMLAttribute()	{}
+
+    XMLAttribute( const XMLAttribute& );	// not supported
+    void operator=( const XMLAttribute& );	// not supported
+    void SetName( const char* name );
+
+    char* ParseDeep( char* p, bool processEntities, int* curLineNumPtr );
+
+    mutable StrPair _name;
+    mutable StrPair _value;
+    int             _parseLineNum;
+    XMLAttribute*   _next;
+    MemPool*        _memPool;
+};
+
+
+/** The element is a container class. It has a value, the element name,
+	and can contain other elements, text, comments, and unknowns.
+	Elements also contain an arbitrary number of attributes.
+*/
+class TINYXML2_LIB XMLElement : public XMLNode
+{
+    friend class XMLDocument;
+public:
+    /// Get the name of an element (which is the Value() of the node.)
+    const char* Name() const		{
+        return Value();
+    }
+    /// Set the name of the element.
+    void SetName( const char* str, bool staticMem=false )	{
+        SetValue( str, staticMem );
+    }
+
+    virtual XMLElement* ToElement()				{
+        return this;
+    }
+    virtual const XMLElement* ToElement() const {
+        return this;
+    }
+    virtual bool Accept( XMLVisitor* visitor ) const;
+
+    /** Given an attribute name, Attribute() returns the value
+    	for the attribute of that name, or null if none
+    	exists. For example:
+
+    	@verbatim
+    	const char* value = ele->Attribute( "foo" );
+    	@endverbatim
+
+    	The 'value' parameter is normally null. However, if specified,
+    	the attribute will only be returned if the 'name' and 'value'
+    	match. This allow you to write code:
+
+    	@verbatim
+    	if ( ele->Attribute( "foo", "bar" ) ) callFooIsBar();
+    	@endverbatim
+
+    	rather than:
+    	@verbatim
+    	if ( ele->Attribute( "foo" ) ) {
+    		if ( strcmp( ele->Attribute( "foo" ), "bar" ) == 0 ) callFooIsBar();
+    	}
+    	@endverbatim
+    */
+    const char* Attribute( const char* name, const char* value=0 ) const;
+
+    /** Given an attribute name, IntAttribute() returns the value
+    	of the attribute interpreted as an integer. The default
+        value will be returned if the attribute isn't present,
+        or if there is an error. (For a method with error
+    	checking, see QueryIntAttribute()).
+    */
+	int IntAttribute(const char* name, int defaultValue = 0) const;
+    /// See IntAttribute()
+	unsigned UnsignedAttribute(const char* name, unsigned defaultValue = 0) const;
+	/// See IntAttribute()
+	int64_t Int64Attribute(const char* name, int64_t defaultValue = 0) const;
+    /// See IntAttribute()
+    uint64_t Unsigned64Attribute(const char* name, uint64_t defaultValue = 0) const;
+	/// See IntAttribute()
+	bool BoolAttribute(const char* name, bool defaultValue = false) const;
+    /// See IntAttribute()
+	double DoubleAttribute(const char* name, double defaultValue = 0) const;
+    /// See IntAttribute()
+	float FloatAttribute(const char* name, float defaultValue = 0) const;
+
+    /** Given an attribute name, QueryIntAttribute() returns
+    	XML_SUCCESS, XML_WRONG_ATTRIBUTE_TYPE if the conversion
+    	can't be performed, or XML_NO_ATTRIBUTE if the attribute
+    	doesn't exist. If successful, the result of the conversion
+    	will be written to 'value'. If not successful, nothing will
+    	be written to 'value'. This allows you to provide default
+    	value:
+
+    	@verbatim
+    	int value = 10;
+    	QueryIntAttribute( "foo", &value );		// if "foo" isn't found, value will still be 10
+    	@endverbatim
+    */
+    XMLError QueryIntAttribute( const char* name, int* value ) const				{
+        const XMLAttribute* a = FindAttribute( name );
+        if ( !a ) {
+            return XML_NO_ATTRIBUTE;
+        }
+        return a->QueryIntValue( value );
+    }
+
+	/// See QueryIntAttribute()
+    XMLError QueryUnsignedAttribute( const char* name, unsigned int* value ) const	{
+        const XMLAttribute* a = FindAttribute( name );
+        if ( !a ) {
+            return XML_NO_ATTRIBUTE;
+        }
+        return a->QueryUnsignedValue( value );
+    }
+
+	/// See QueryIntAttribute()
+	XMLError QueryInt64Attribute(const char* name, int64_t* value) const {
+		const XMLAttribute* a = FindAttribute(name);
+		if (!a) {
+			return XML_NO_ATTRIBUTE;
+		}
+		return a->QueryInt64Value(value);
+	}
+
+    /// See QueryIntAttribute()
+    XMLError QueryUnsigned64Attribute(const char* name, uint64_t* value) const {
+        const XMLAttribute* a = FindAttribute(name);
+        if(!a) {
+            return XML_NO_ATTRIBUTE;
+        }
+        return a->QueryUnsigned64Value(value);
+    }
+
+	/// See QueryIntAttribute()
+    XMLError QueryBoolAttribute( const char* name, bool* value ) const				{
+        const XMLAttribute* a = FindAttribute( name );
+        if ( !a ) {
+            return XML_NO_ATTRIBUTE;
+        }
+        return a->QueryBoolValue( value );
+    }
+    /// See QueryIntAttribute()
+    XMLError QueryDoubleAttribute( const char* name, double* value ) const			{
+        const XMLAttribute* a = FindAttribute( name );
+        if ( !a ) {
+            return XML_NO_ATTRIBUTE;
+        }
+        return a->QueryDoubleValue( value );
+    }
+    /// See QueryIntAttribute()
+    XMLError QueryFloatAttribute( const char* name, float* value ) const			{
+        const XMLAttribute* a = FindAttribute( name );
+        if ( !a ) {
+            return XML_NO_ATTRIBUTE;
+        }
+        return a->QueryFloatValue( value );
+    }
+
+	/// See QueryIntAttribute()
+	XMLError QueryStringAttribute(const char* name, const char** value) const {
+		const XMLAttribute* a = FindAttribute(name);
+		if (!a) {
+			return XML_NO_ATTRIBUTE;
+		}
+		*value = a->Value();
+		return XML_SUCCESS;
+	}
+
+
+
+    /** Given an attribute name, QueryAttribute() returns
+    	XML_SUCCESS, XML_WRONG_ATTRIBUTE_TYPE if the conversion
+    	can't be performed, or XML_NO_ATTRIBUTE if the attribute
+    	doesn't exist. It is overloaded for the primitive types,
+		and is a generally more convenient replacement of
+		QueryIntAttribute() and related functions.
+
+		If successful, the result of the conversion
+    	will be written to 'value'. If not successful, nothing will
+    	be written to 'value'. This allows you to provide default
+    	value:
+
+    	@verbatim
+    	int value = 10;
+    	QueryAttribute( "foo", &value );		// if "foo" isn't found, value will still be 10
+    	@endverbatim
+    */
+	XMLError QueryAttribute( const char* name, int* value ) const {
+		return QueryIntAttribute( name, value );
+	}
+
+	XMLError QueryAttribute( const char* name, unsigned int* value ) const {
+		return QueryUnsignedAttribute( name, value );
+	}
+
+	XMLError QueryAttribute(const char* name, int64_t* value) const {
+		return QueryInt64Attribute(name, value);
+	}
+
+    XMLError QueryAttribute(const char* name, uint64_t* value) const {
+        return QueryUnsigned64Attribute(name, value);
+    }
+
+    XMLError QueryAttribute( const char* name, bool* value ) const {
+		return QueryBoolAttribute( name, value );
+	}
+
+	XMLError QueryAttribute( const char* name, double* value ) const {
+		return QueryDoubleAttribute( name, value );
+	}
+
+	XMLError QueryAttribute( const char* name, float* value ) const {
+		return QueryFloatAttribute( name, value );
+	}
+
+	XMLError QueryAttribute(const char* name, const char** value) const {
+		return QueryStringAttribute(name, value);
+	}
+
+	/// Sets the named attribute to value.
+    void SetAttribute( const char* name, const char* value )	{
+        XMLAttribute* a = FindOrCreateAttribute( name );
+        a->SetAttribute( value );
+    }
+    /// Sets the named attribute to value.
+    void SetAttribute( const char* name, int value )			{
+        XMLAttribute* a = FindOrCreateAttribute( name );
+        a->SetAttribute( value );
+    }
+    /// Sets the named attribute to value.
+    void SetAttribute( const char* name, unsigned value )		{
+        XMLAttribute* a = FindOrCreateAttribute( name );
+        a->SetAttribute( value );
+    }
+
+	/// Sets the named attribute to value.
+	void SetAttribute(const char* name, int64_t value) {
+		XMLAttribute* a = FindOrCreateAttribute(name);
+		a->SetAttribute(value);
+	}
+
+    /// Sets the named attribute to value.
+    void SetAttribute(const char* name, uint64_t value) {
+        XMLAttribute* a = FindOrCreateAttribute(name);
+        a->SetAttribute(value);
+    }
+
+    /// Sets the named attribute to value.
+    void SetAttribute( const char* name, bool value )			{
+        XMLAttribute* a = FindOrCreateAttribute( name );
+        a->SetAttribute( value );
+    }
+    /// Sets the named attribute to value.
+    void SetAttribute( const char* name, double value )		{
+        XMLAttribute* a = FindOrCreateAttribute( name );
+        a->SetAttribute( value );
+    }
+    /// Sets the named attribute to value.
+    void SetAttribute( const char* name, float value )		{
+        XMLAttribute* a = FindOrCreateAttribute( name );
+        a->SetAttribute( value );
+    }
+
+    /**
+    	Delete an attribute.
+    */
+    void DeleteAttribute( const char* name );
+
+    /// Return the first attribute in the list.
+    const XMLAttribute* FirstAttribute() const {
+        return _rootAttribute;
+    }
+    /// Query a specific attribute in the list.
+    const XMLAttribute* FindAttribute( const char* name ) const;
+
+    /** Convenience function for easy access to the text inside an element. Although easy
+    	and concise, GetText() is limited compared to getting the XMLText child
+    	and accessing it directly.
+
+    	If the first child of 'this' is a XMLText, the GetText()
+    	returns the character string of the Text node, else null is returned.
+
+    	This is a convenient method for getting the text of simple contained text:
+    	@verbatim
+    	This is text
+    		const char* str = fooElement->GetText();
+    	@endverbatim
+
+    	'str' will be a pointer to "This is text".
+
+    	Note that this function can be misleading. If the element foo was created from
+    	this XML:
+    	@verbatim
+    		This is text
+    	@endverbatim
+
+    	then the value of str would be null. The first child node isn't a text node, it is
+    	another element. From this XML:
+    	@verbatim
+    		This is text
+    	@endverbatim
+    	GetText() will return "This is ".
+    */
+    const char* GetText() const;
+
+    /** Convenience function for easy access to the text inside an element. Although easy
+    	and concise, SetText() is limited compared to creating an XMLText child
+    	and mutating it directly.
+
+    	If the first child of 'this' is a XMLText, SetText() sets its value to
+		the given string, otherwise it will create a first child that is an XMLText.
+
+    	This is a convenient method for setting the text of simple contained text:
+    	@verbatim
+    	This is text
+    		fooElement->SetText( "Hullaballoo!" );
+     	Hullaballoo!
+		@endverbatim
+
+    	Note that this function can be misleading. If the element foo was created from
+    	this XML:
+    	@verbatim
+    		This is text
+    	@endverbatim
+
+    	then it will not change "This is text", but rather prefix it with a text element:
+    	@verbatim
+    		Hullaballoo!This is text
+    	@endverbatim
+
+		For this XML:
+    	@verbatim
+    		
+    	@endverbatim
+    	SetText() will generate
+    	@verbatim
+    		Hullaballoo!
+    	@endverbatim
+    */
+	void SetText( const char* inText );
+    /// Convenience method for setting text inside an element. See SetText() for important limitations.
+    void SetText( int value );
+    /// Convenience method for setting text inside an element. See SetText() for important limitations.
+    void SetText( unsigned value );
+	/// Convenience method for setting text inside an element. See SetText() for important limitations.
+	void SetText(int64_t value);
+    /// Convenience method for setting text inside an element. See SetText() for important limitations.
+    void SetText(uint64_t value);
+	/// Convenience method for setting text inside an element. See SetText() for important limitations.
+    void SetText( bool value );
+    /// Convenience method for setting text inside an element. See SetText() for important limitations.
+    void SetText( double value );
+    /// Convenience method for setting text inside an element. See SetText() for important limitations.
+    void SetText( float value );
+
+    /**
+    	Convenience method to query the value of a child text node. This is probably best
+    	shown by example. Given you have a document is this form:
+    	@verbatim
+    		
+    			1
+    			1.4
+    		
+    	@endverbatim
+
+    	The QueryIntText() and similar functions provide a safe and easier way to get to the
+    	"value" of x and y.
+
+    	@verbatim
+    		int x = 0;
+    		float y = 0;	// types of x and y are contrived for example
+    		const XMLElement* xElement = pointElement->FirstChildElement( "x" );
+    		const XMLElement* yElement = pointElement->FirstChildElement( "y" );
+    		xElement->QueryIntText( &x );
+    		yElement->QueryFloatText( &y );
+    	@endverbatim
+
+    	@returns XML_SUCCESS (0) on success, XML_CAN_NOT_CONVERT_TEXT if the text cannot be converted
+    			 to the requested type, and XML_NO_TEXT_NODE if there is no child text to query.
+
+    */
+    XMLError QueryIntText( int* ival ) const;
+    /// See QueryIntText()
+    XMLError QueryUnsignedText( unsigned* uval ) const;
+	/// See QueryIntText()
+	XMLError QueryInt64Text(int64_t* uval) const;
+	/// See QueryIntText()
+	XMLError QueryUnsigned64Text(uint64_t* uval) const;
+	/// See QueryIntText()
+    XMLError QueryBoolText( bool* bval ) const;
+    /// See QueryIntText()
+    XMLError QueryDoubleText( double* dval ) const;
+    /// See QueryIntText()
+    XMLError QueryFloatText( float* fval ) const;
+
+	int IntText(int defaultValue = 0) const;
+
+	/// See QueryIntText()
+	unsigned UnsignedText(unsigned defaultValue = 0) const;
+	/// See QueryIntText()
+	int64_t Int64Text(int64_t defaultValue = 0) const;
+    /// See QueryIntText()
+    uint64_t Unsigned64Text(uint64_t defaultValue = 0) const;
+	/// See QueryIntText()
+	bool BoolText(bool defaultValue = false) const;
+	/// See QueryIntText()
+	double DoubleText(double defaultValue = 0) const;
+	/// See QueryIntText()
+    float FloatText(float defaultValue = 0) const;
+
+    /**
+        Convenience method to create a new XMLElement and add it as last (right)
+        child of this node. Returns the created and inserted element.
+    */
+    XMLElement* InsertNewChildElement(const char* name);
+    /// See InsertNewChildElement()
+    XMLComment* InsertNewComment(const char* comment);
+    /// See InsertNewChildElement()
+    XMLText* InsertNewText(const char* text);
+    /// See InsertNewChildElement()
+    XMLDeclaration* InsertNewDeclaration(const char* text);
+    /// See InsertNewChildElement()
+    XMLUnknown* InsertNewUnknown(const char* text);
+
+
+    // internal:
+    enum ElementClosingType {
+        OPEN,		// 
+        CLOSED,		// 
+        CLOSING		// 
+    };
+    ElementClosingType ClosingType() const {
+        return _closingType;
+    }
+    virtual XMLNode* ShallowClone( XMLDocument* document ) const;
+    virtual bool ShallowEqual( const XMLNode* compare ) const;
+
+protected:
+    char* ParseDeep( char* p, StrPair* parentEndTag, int* curLineNumPtr );
+
+private:
+    XMLElement( XMLDocument* doc );
+    virtual ~XMLElement();
+    XMLElement( const XMLElement& );	// not supported
+    void operator=( const XMLElement& );	// not supported
+
+    XMLAttribute* FindOrCreateAttribute( const char* name );
+    char* ParseAttributes( char* p, int* curLineNumPtr );
+    static void DeleteAttribute( XMLAttribute* attribute );
+    XMLAttribute* CreateAttribute();
+
+    enum { BUF_SIZE = 200 };
+    ElementClosingType _closingType;
+    // The attribute list is ordered; there is no 'lastAttribute'
+    // because the list needs to be scanned for dupes before adding
+    // a new attribute.
+    XMLAttribute* _rootAttribute;
+};
+
+
+enum Whitespace {
+    PRESERVE_WHITESPACE,
+    COLLAPSE_WHITESPACE
+};
+
+
+/** A Document binds together all the functionality.
+	It can be saved, loaded, and printed to the screen.
+	All Nodes are connected and allocated to a Document.
+	If the Document is deleted, all its Nodes are also deleted.
+*/
+class TINYXML2_LIB XMLDocument : public XMLNode
+{
+    friend class XMLElement;
+    // Gives access to SetError and Push/PopDepth, but over-access for everything else.
+    // Wishing C++ had "internal" scope.
+    friend class XMLNode;
+    friend class XMLText;
+    friend class XMLComment;
+    friend class XMLDeclaration;
+    friend class XMLUnknown;
+public:
+    /// constructor
+    XMLDocument( bool processEntities = true, Whitespace whitespaceMode = PRESERVE_WHITESPACE );
+    ~XMLDocument();
+
+    virtual XMLDocument* ToDocument()				{
+        TIXMLASSERT( this == _document );
+        return this;
+    }
+    virtual const XMLDocument* ToDocument() const	{
+        TIXMLASSERT( this == _document );
+        return this;
+    }
+
+    /**
+    	Parse an XML file from a character string.
+    	Returns XML_SUCCESS (0) on success, or
+    	an errorID.
+
+    	You may optionally pass in the 'nBytes', which is
+    	the number of bytes which will be parsed. If not
+    	specified, TinyXML-2 will assume 'xml' points to a
+    	null terminated string.
+    */
+    XMLError Parse( const char* xml, size_t nBytes=static_cast(-1) );
+
+    /**
+    	Load an XML file from disk.
+    	Returns XML_SUCCESS (0) on success, or
+    	an errorID.
+    */
+    XMLError LoadFile( const char* filename );
+
+    /**
+    	Load an XML file from disk. You are responsible
+    	for providing and closing the FILE*.
+
+        NOTE: The file should be opened as binary ("rb")
+        not text in order for TinyXML-2 to correctly
+        do newline normalization.
+
+    	Returns XML_SUCCESS (0) on success, or
+    	an errorID.
+    */
+    XMLError LoadFile( FILE* );
+
+    /**
+    	Save the XML file to disk.
+    	Returns XML_SUCCESS (0) on success, or
+    	an errorID.
+    */
+    XMLError SaveFile( const char* filename, bool compact = false );
+
+    /**
+    	Save the XML file to disk. You are responsible
+    	for providing and closing the FILE*.
+
+    	Returns XML_SUCCESS (0) on success, or
+    	an errorID.
+    */
+    XMLError SaveFile( FILE* fp, bool compact = false );
+
+    bool ProcessEntities() const		{
+        return _processEntities;
+    }
+    Whitespace WhitespaceMode() const	{
+        return _whitespaceMode;
+    }
+
+    /**
+    	Returns true if this document has a leading Byte Order Mark of UTF8.
+    */
+    bool HasBOM() const {
+        return _writeBOM;
+    }
+    /** Sets whether to write the BOM when writing the file.
+    */
+    void SetBOM( bool useBOM ) {
+        _writeBOM = useBOM;
+    }
+
+    /** Return the root element of DOM. Equivalent to FirstChildElement().
+        To get the first node, use FirstChild().
+    */
+    XMLElement* RootElement()				{
+        return FirstChildElement();
+    }
+    const XMLElement* RootElement() const	{
+        return FirstChildElement();
+    }
+
+    /** Print the Document. If the Printer is not provided, it will
+        print to stdout. If you provide Printer, this can print to a file:
+    	@verbatim
+    	XMLPrinter printer( fp );
+    	doc.Print( &printer );
+    	@endverbatim
+
+    	Or you can use a printer to print to memory:
+    	@verbatim
+    	XMLPrinter printer;
+    	doc.Print( &printer );
+    	// printer.CStr() has a const char* to the XML
+    	@endverbatim
+    */
+    void Print( XMLPrinter* streamer=0 ) const;
+    virtual bool Accept( XMLVisitor* visitor ) const;
+
+    /**
+    	Create a new Element associated with
+    	this Document. The memory for the Element
+    	is managed by the Document.
+    */
+    XMLElement* NewElement( const char* name );
+    /**
+    	Create a new Comment associated with
+    	this Document. The memory for the Comment
+    	is managed by the Document.
+    */
+    XMLComment* NewComment( const char* comment );
+    /**
+    	Create a new Text associated with
+    	this Document. The memory for the Text
+    	is managed by the Document.
+    */
+    XMLText* NewText( const char* text );
+    /**
+    	Create a new Declaration associated with
+    	this Document. The memory for the object
+    	is managed by the Document.
+
+    	If the 'text' param is null, the standard
+    	declaration is used.:
+    	@verbatim
+    		
+    	@endverbatim
+    */
+    XMLDeclaration* NewDeclaration( const char* text=0 );
+    /**
+    	Create a new Unknown associated with
+    	this Document. The memory for the object
+    	is managed by the Document.
+    */
+    XMLUnknown* NewUnknown( const char* text );
+
+    /**
+    	Delete a node associated with this document.
+    	It will be unlinked from the DOM.
+    */
+    void DeleteNode( XMLNode* node );
+
+    /// Clears the error flags.
+    void ClearError();
+
+    /// Return true if there was an error parsing the document.
+    bool Error() const {
+        return _errorID != XML_SUCCESS;
+    }
+    /// Return the errorID.
+    XMLError  ErrorID() const {
+        return _errorID;
+    }
+	const char* ErrorName() const;
+    static const char* ErrorIDToName(XMLError errorID);
+
+    /** Returns a "long form" error description. A hopefully helpful
+        diagnostic with location, line number, and/or additional info.
+    */
+	const char* ErrorStr() const;
+
+    /// A (trivial) utility function that prints the ErrorStr() to stdout.
+    void PrintError() const;
+
+    /// Return the line where the error occurred, or zero if unknown.
+    int ErrorLineNum() const
+    {
+        return _errorLineNum;
+    }
+
+    /// Clear the document, resetting it to the initial state.
+    void Clear();
+
+	/**
+		Copies this document to a target document.
+		The target will be completely cleared before the copy.
+		If you want to copy a sub-tree, see XMLNode::DeepClone().
+
+		NOTE: that the 'target' must be non-null.
+	*/
+	void DeepCopy(XMLDocument* target) const;
+
+	// internal
+    char* Identify( char* p, XMLNode** node );
+
+	// internal
+	void MarkInUse(const XMLNode* const);
+
+    virtual XMLNode* ShallowClone( XMLDocument* /*document*/ ) const	{
+        return 0;
+    }
+    virtual bool ShallowEqual( const XMLNode* /*compare*/ ) const	{
+        return false;
+    }
+
+private:
+    XMLDocument( const XMLDocument& );	// not supported
+    void operator=( const XMLDocument& );	// not supported
+
+    bool			_writeBOM;
+    bool			_processEntities;
+    XMLError		_errorID;
+    Whitespace		_whitespaceMode;
+    mutable StrPair	_errorStr;
+    int             _errorLineNum;
+    char*			_charBuffer;
+    int				_parseCurLineNum;
+	int				_parsingDepth;
+	// Memory tracking does add some overhead.
+	// However, the code assumes that you don't
+	// have a bunch of unlinked nodes around.
+	// Therefore it takes less memory to track
+	// in the document vs. a linked list in the XMLNode,
+	// and the performance is the same.
+	DynArray _unlinked;
+
+    MemPoolT< sizeof(XMLElement) >	 _elementPool;
+    MemPoolT< sizeof(XMLAttribute) > _attributePool;
+    MemPoolT< sizeof(XMLText) >		 _textPool;
+    MemPoolT< sizeof(XMLComment) >	 _commentPool;
+
+	static const char* _errorNames[XML_ERROR_COUNT];
+
+    void Parse();
+
+    void SetError( XMLError error, int lineNum, const char* format, ... );
+
+	// Something of an obvious security hole, once it was discovered.
+	// Either an ill-formed XML or an excessively deep one can overflow
+	// the stack. Track stack depth, and error out if needed.
+	class DepthTracker {
+	public:
+		explicit DepthTracker(XMLDocument * document) {
+			this->_document = document;
+			document->PushDepth();
+		}
+		~DepthTracker() {
+			_document->PopDepth();
+		}
+	private:
+		XMLDocument * _document;
+	};
+	void PushDepth();
+	void PopDepth();
+
+    template
+    NodeType* CreateUnlinkedNode( MemPoolT& pool );
+};
+
+template
+inline NodeType* XMLDocument::CreateUnlinkedNode( MemPoolT& pool )
+{
+    TIXMLASSERT( sizeof( NodeType ) == PoolElementSize );
+    TIXMLASSERT( sizeof( NodeType ) == pool.ItemSize() );
+    NodeType* returnNode = new (pool.Alloc()) NodeType( this );
+    TIXMLASSERT( returnNode );
+    returnNode->_memPool = &pool;
+
+	_unlinked.Push(returnNode);
+    return returnNode;
+}
+
+/**
+	A XMLHandle is a class that wraps a node pointer with null checks; this is
+	an incredibly useful thing. Note that XMLHandle is not part of the TinyXML-2
+	DOM structure. It is a separate utility class.
+
+	Take an example:
+	@verbatim
+	
+		
+			
+			
+		
+	
+	@endverbatim
+
+	Assuming you want the value of "attributeB" in the 2nd "Child" element, it's very
+	easy to write a *lot* of code that looks like:
+
+	@verbatim
+	XMLElement* root = document.FirstChildElement( "Document" );
+	if ( root )
+	{
+		XMLElement* element = root->FirstChildElement( "Element" );
+		if ( element )
+		{
+			XMLElement* child = element->FirstChildElement( "Child" );
+			if ( child )
+			{
+				XMLElement* child2 = child->NextSiblingElement( "Child" );
+				if ( child2 )
+				{
+					// Finally do something useful.
+	@endverbatim
+
+	And that doesn't even cover "else" cases. XMLHandle addresses the verbosity
+	of such code. A XMLHandle checks for null pointers so it is perfectly safe
+	and correct to use:
+
+	@verbatim
+	XMLHandle docHandle( &document );
+	XMLElement* child2 = docHandle.FirstChildElement( "Document" ).FirstChildElement( "Element" ).FirstChildElement().NextSiblingElement();
+	if ( child2 )
+	{
+		// do something useful
+	@endverbatim
+
+	Which is MUCH more concise and useful.
+
+	It is also safe to copy handles - internally they are nothing more than node pointers.
+	@verbatim
+	XMLHandle handleCopy = handle;
+	@endverbatim
+
+	See also XMLConstHandle, which is the same as XMLHandle, but operates on const objects.
+*/
+class TINYXML2_LIB XMLHandle
+{
+public:
+    /// Create a handle from any node (at any depth of the tree.) This can be a null pointer.
+    explicit XMLHandle( XMLNode* node ) : _node( node ) {
+    }
+    /// Create a handle from a node.
+    explicit XMLHandle( XMLNode& node ) : _node( &node ) {
+    }
+    /// Copy constructor
+    XMLHandle( const XMLHandle& ref ) : _node( ref._node ) {
+    }
+    /// Assignment
+    XMLHandle& operator=( const XMLHandle& ref )							{
+        _node = ref._node;
+        return *this;
+    }
+
+    /// Get the first child of this handle.
+    XMLHandle FirstChild() 													{
+        return XMLHandle( _node ? _node->FirstChild() : 0 );
+    }
+    /// Get the first child element of this handle.
+    XMLHandle FirstChildElement( const char* name = 0 )						{
+        return XMLHandle( _node ? _node->FirstChildElement( name ) : 0 );
+    }
+    /// Get the last child of this handle.
+    XMLHandle LastChild()													{
+        return XMLHandle( _node ? _node->LastChild() : 0 );
+    }
+    /// Get the last child element of this handle.
+    XMLHandle LastChildElement( const char* name = 0 )						{
+        return XMLHandle( _node ? _node->LastChildElement( name ) : 0 );
+    }
+    /// Get the previous sibling of this handle.
+    XMLHandle PreviousSibling()												{
+        return XMLHandle( _node ? _node->PreviousSibling() : 0 );
+    }
+    /// Get the previous sibling element of this handle.
+    XMLHandle PreviousSiblingElement( const char* name = 0 )				{
+        return XMLHandle( _node ? _node->PreviousSiblingElement( name ) : 0 );
+    }
+    /// Get the next sibling of this handle.
+    XMLHandle NextSibling()													{
+        return XMLHandle( _node ? _node->NextSibling() : 0 );
+    }
+    /// Get the next sibling element of this handle.
+    XMLHandle NextSiblingElement( const char* name = 0 )					{
+        return XMLHandle( _node ? _node->NextSiblingElement( name ) : 0 );
+    }
+
+    /// Safe cast to XMLNode. This can return null.
+    XMLNode* ToNode()							{
+        return _node;
+    }
+    /// Safe cast to XMLElement. This can return null.
+    XMLElement* ToElement() 					{
+        return ( _node ? _node->ToElement() : 0 );
+    }
+    /// Safe cast to XMLText. This can return null.
+    XMLText* ToText() 							{
+        return ( _node ? _node->ToText() : 0 );
+    }
+    /// Safe cast to XMLUnknown. This can return null.
+    XMLUnknown* ToUnknown() 					{
+        return ( _node ? _node->ToUnknown() : 0 );
+    }
+    /// Safe cast to XMLDeclaration. This can return null.
+    XMLDeclaration* ToDeclaration() 			{
+        return ( _node ? _node->ToDeclaration() : 0 );
+    }
+
+private:
+    XMLNode* _node;
+};
+
+
+/**
+	A variant of the XMLHandle class for working with const XMLNodes and Documents. It is the
+	same in all regards, except for the 'const' qualifiers. See XMLHandle for API.
+*/
+class TINYXML2_LIB XMLConstHandle
+{
+public:
+    explicit XMLConstHandle( const XMLNode* node ) : _node( node ) {
+    }
+    explicit XMLConstHandle( const XMLNode& node ) : _node( &node ) {
+    }
+    XMLConstHandle( const XMLConstHandle& ref ) : _node( ref._node ) {
+    }
+
+    XMLConstHandle& operator=( const XMLConstHandle& ref )							{
+        _node = ref._node;
+        return *this;
+    }
+
+    const XMLConstHandle FirstChild() const											{
+        return XMLConstHandle( _node ? _node->FirstChild() : 0 );
+    }
+    const XMLConstHandle FirstChildElement( const char* name = 0 ) const				{
+        return XMLConstHandle( _node ? _node->FirstChildElement( name ) : 0 );
+    }
+    const XMLConstHandle LastChild()	const										{
+        return XMLConstHandle( _node ? _node->LastChild() : 0 );
+    }
+    const XMLConstHandle LastChildElement( const char* name = 0 ) const				{
+        return XMLConstHandle( _node ? _node->LastChildElement( name ) : 0 );
+    }
+    const XMLConstHandle PreviousSibling() const									{
+        return XMLConstHandle( _node ? _node->PreviousSibling() : 0 );
+    }
+    const XMLConstHandle PreviousSiblingElement( const char* name = 0 ) const		{
+        return XMLConstHandle( _node ? _node->PreviousSiblingElement( name ) : 0 );
+    }
+    const XMLConstHandle NextSibling() const										{
+        return XMLConstHandle( _node ? _node->NextSibling() : 0 );
+    }
+    const XMLConstHandle NextSiblingElement( const char* name = 0 ) const			{
+        return XMLConstHandle( _node ? _node->NextSiblingElement( name ) : 0 );
+    }
+
+
+    const XMLNode* ToNode() const				{
+        return _node;
+    }
+    const XMLElement* ToElement() const			{
+        return ( _node ? _node->ToElement() : 0 );
+    }
+    const XMLText* ToText() const				{
+        return ( _node ? _node->ToText() : 0 );
+    }
+    const XMLUnknown* ToUnknown() const			{
+        return ( _node ? _node->ToUnknown() : 0 );
+    }
+    const XMLDeclaration* ToDeclaration() const	{
+        return ( _node ? _node->ToDeclaration() : 0 );
+    }
+
+private:
+    const XMLNode* _node;
+};
+
+
+/**
+	Printing functionality. The XMLPrinter gives you more
+	options than the XMLDocument::Print() method.
+
+	It can:
+	-# Print to memory.
+	-# Print to a file you provide.
+	-# Print XML without a XMLDocument.
+
+	Print to Memory
+
+	@verbatim
+	XMLPrinter printer;
+	doc.Print( &printer );
+	SomeFunction( printer.CStr() );
+	@endverbatim
+
+	Print to a File
+
+	You provide the file pointer.
+	@verbatim
+	XMLPrinter printer( fp );
+	doc.Print( &printer );
+	@endverbatim
+
+	Print without a XMLDocument
+
+	When loading, an XML parser is very useful. However, sometimes
+	when saving, it just gets in the way. The code is often set up
+	for streaming, and constructing the DOM is just overhead.
+
+	The Printer supports the streaming case. The following code
+	prints out a trivially simple XML file without ever creating
+	an XML document.
+
+	@verbatim
+	XMLPrinter printer( fp );
+	printer.OpenElement( "foo" );
+	printer.PushAttribute( "foo", "bar" );
+	printer.CloseElement();
+	@endverbatim
+*/
+class TINYXML2_LIB XMLPrinter : public XMLVisitor
+{
+public:
+    /** Construct the printer. If the FILE* is specified,
+    	this will print to the FILE. Else it will print
+    	to memory, and the result is available in CStr().
+    	If 'compact' is set to true, then output is created
+    	with only required whitespace and newlines.
+    */
+    XMLPrinter( FILE* file=0, bool compact = false, int depth = 0 );
+    virtual ~XMLPrinter()	{}
+
+    /** If streaming, write the BOM and declaration. */
+    void PushHeader( bool writeBOM, bool writeDeclaration );
+    /** If streaming, start writing an element.
+        The element must be closed with CloseElement()
+    */
+    void OpenElement( const char* name, bool compactMode=false );
+    /// If streaming, add an attribute to an open element.
+    void PushAttribute( const char* name, const char* value );
+    void PushAttribute( const char* name, int value );
+    void PushAttribute( const char* name, unsigned value );
+	void PushAttribute( const char* name, int64_t value );
+	void PushAttribute( const char* name, uint64_t value );
+	void PushAttribute( const char* name, bool value );
+    void PushAttribute( const char* name, double value );
+    /// If streaming, close the Element.
+    virtual void CloseElement( bool compactMode=false );
+
+    /// Add a text node.
+    void PushText( const char* text, bool cdata=false );
+    /// Add a text node from an integer.
+    void PushText( int value );
+    /// Add a text node from an unsigned.
+    void PushText( unsigned value );
+	/// Add a text node from a signed 64bit integer.
+	void PushText( int64_t value );
+	/// Add a text node from an unsigned 64bit integer.
+	void PushText( uint64_t value );
+	/// Add a text node from a bool.
+    void PushText( bool value );
+    /// Add a text node from a float.
+    void PushText( float value );
+    /// Add a text node from a double.
+    void PushText( double value );
+
+    /// Add a comment
+    void PushComment( const char* comment );
+
+    void PushDeclaration( const char* value );
+    void PushUnknown( const char* value );
+
+    virtual bool VisitEnter( const XMLDocument& /*doc*/ );
+    virtual bool VisitExit( const XMLDocument& /*doc*/ )			{
+        return true;
+    }
+
+    virtual bool VisitEnter( const XMLElement& element, const XMLAttribute* attribute );
+    virtual bool VisitExit( const XMLElement& element );
+
+    virtual bool Visit( const XMLText& text );
+    virtual bool Visit( const XMLComment& comment );
+    virtual bool Visit( const XMLDeclaration& declaration );
+    virtual bool Visit( const XMLUnknown& unknown );
+
+    /**
+    	If in print to memory mode, return a pointer to
+    	the XML file in memory.
+    */
+    const char* CStr() const {
+        return _buffer.Mem();
+    }
+    /**
+    	If in print to memory mode, return the size
+    	of the XML file in memory. (Note the size returned
+    	includes the terminating null.)
+    */
+    int CStrSize() const {
+        return _buffer.Size();
+    }
+    /**
+    	If in print to memory mode, reset the buffer to the
+    	beginning.
+    */
+    void ClearBuffer( bool resetToFirstElement = true ) {
+        _buffer.Clear();
+        _buffer.Push(0);
+		_firstElement = resetToFirstElement;
+    }
+
+protected:
+	virtual bool CompactMode( const XMLElement& )	{ return _compactMode; }
+
+	/** Prints out the space before an element. You may override to change
+	    the space and tabs used. A PrintSpace() override should call Print().
+	*/
+    virtual void PrintSpace( int depth );
+    virtual void Print( const char* format, ... );
+    virtual void Write( const char* data, size_t size );
+    virtual void Putc( char ch );
+
+    inline void Write(const char* data) { Write(data, strlen(data)); }
+
+    void SealElementIfJustOpened();
+    bool _elementJustOpened;
+    DynArray< const char*, 10 > _stack;
+
+private:
+    /**
+       Prepares to write a new node. This includes sealing an element that was
+       just opened, and writing any whitespace necessary if not in compact mode.
+     */
+    void PrepareForNewNode( bool compactMode );
+    void PrintString( const char*, bool restrictedEntitySet );	// prints out, after detecting entities.
+
+    bool _firstElement;
+    FILE* _fp;
+    int _depth;
+    int _textDepth;
+    bool _processEntities;
+	bool _compactMode;
+
+    enum {
+        ENTITY_RANGE = 64,
+        BUF_SIZE = 200
+    };
+    bool _entityFlag[ENTITY_RANGE];
+    bool _restrictedEntityFlag[ENTITY_RANGE];
+
+    DynArray< char, 20 > _buffer;
+
+    // Prohibit cloning, intentionally not implemented
+    XMLPrinter( const XMLPrinter& );
+    XMLPrinter& operator=( const XMLPrinter& );
+};
+
+
+}	// tinyxml2
+
+#if defined(_MSC_VER)
+#   pragma warning(pop)
+#endif
+
+#endif // TINYXML2_INCLUDED

From c83b7143daf1795087a0d19a21c1fb5a34dbe781 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E6=9D=B0=E4=BB=94?= 
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Subject: [PATCH 2/2] =?UTF-8?q?=E6=B8=85=E7=90=86=E6=96=87=E6=A1=A3?=
 =?UTF-8?q?=EF=BC=8C=E5=8F=AA=E4=BF=9D=E7=95=99=20README.md?=
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---
 MIGRATION.md  | 197 -------------------------------------------------
 QUICKSTART.md | 201 --------------------------------------------------
 2 files changed, 398 deletions(-)
 delete mode 100644 MIGRATION.md
 delete mode 100644 QUICKSTART.md

diff --git a/MIGRATION.md b/MIGRATION.md
deleted file mode 100644
index f0cda3d..0000000
--- a/MIGRATION.md
+++ /dev/null
@@ -1,197 +0,0 @@
-# Utils 模块重构总结
-
-## 修改概述
-
-已成功将 Utils 目录设置为独立的 git 仓库，并更新了主项目中所有对 VrCommon、VrUtils 和 CloudUtils 的引用。
-
-## 主要修改内容
-
-### 1. Utils 目录结构
-
-创建了独立的 Utils 模块，包含以下子模块：
-
-```
-Utils/
-├── VrCommon/           # 核心接口和数据结构
-├── VrUtils/            # 工具类库（JSON、log4cpp、tinyxml2、INI、MD5、CRC）
-├── CloudUtils/         # 点云工具
-├── DataUtils/          # 数据处理工具
-│   ├── CloudMathClac/      # 点云数学计算
-│   └── CoordinateTransform/ # 坐标转换
-└── CloudView/          # 点云查看工具
-```
-
-### 2. 创建的新文件
-
-- `Utils/Utils.pro` - Utils 模块主项目文件
-- `Utils/README.md` - Utils 模块说明文档
-- `Utils/.gitignore` - Git 忽略文件配置
-
-### 3. 修改的 .pro 文件
-
-#### 主项目
-- `GrabBagPrj/GrabBagPrj.pro` - 将 VrCommon 和 VrUtils 的引用改为 Utils 模块
-
-#### Utils 内部模块
-- `Utils/VrCommon/VrCommon.pro` - 添加 VrConfigCmd.h 头文件
-- `Utils/VrUtils/VrUtils.pro` - 保持不变
-- `Utils/CloudUtils/CloudUtils.pro` - 更新 INCLUDEPATH 为相对路径
-- `Utils/CloudView/CloudView.pro` - 更新 INCLUDEPATH 和 LIBS 路径
-- `Utils/DataUtils/CloudMathClac/CloudMathClac.pro` - 更新 SDK 路径
-- `Utils/DataUtils/CoordinateTransform/CoordinateTransform.pro` - 更新 SDK 路径
-
-#### VrNets 模块
-- `VrNets/VrTcpClient.pro` - 更新 INCLUDEPATH 和 LIBS 路径
-- `VrNets/VrTcpServer.pro` - 更新 INCLUDEPATH 和 LIBS 路径
-
-#### Module 模块
-- `Module/ShareMem/ShareMem.pro` - 更新 INCLUDEPATH
-- `Module/ThreadPool/ThreadPool.pro` - 更新 INCLUDEPATH（修正错误路径）
-- `Module/ModbusTCPServer/ModbusTCPServer.pro` - 更新 INCLUDEPATH 和 LIBS
-- `Module/BinocularMarkReceiver/BinocularMarkReceiver.pro` - 更新 INCLUDEPATH 和 LIBS
-- `Module/HandEyeCalib/HandEyeCalib.pro` - 更新 INCLUDEPATH
-- `Module/ChessboardDetector/ChessboardDetector.pro` - 更新 INCLUDEPATH
-- `Module/AuthModule/AuthModule.pro` - 更新 INCLUDEPATH
-
-#### Device 模块
-- `Device/VrEyeDevice/VrEyeDevice.pro` - 更新 INCLUDEPATH 和 LIBS
-- `Device/HikDevice/HikDevice.pro` - 更新 INCLUDEPATH 和 LIBS
-- `Device/GalaxyDevice/GalaxyDevice.pro` - 更新 INCLUDEPATH 和 LIBS
-- `Device/GlLineLaserDevice/GlLineLaserDevice.pro` - 更新 INCLUDEPATH 和 LIBS
-- `Device/EpicEyeDevice/EpicEyeDevice.pro` - 更新 INCLUDEPATH
-
-#### AppUtils 模块
-- `AppUtils/AppCommon/AppCommon.pro` - 更新 INCLUDEPATH 和 LIBS
-- `AppUtils/UICommon/UICommon.pro` - 更新 INCLUDEPATH
-
-#### Tools 模块
-- `Tools/AuthRegister/AuthRegister.pro` - 更新 LIBS
-- `Tools/ConfigDecryptor/ConfigDecryptor.pro` - 更新 INCLUDEPATH 和 LIBS
-- `Tools/CalibView/CalibView.pro` - 更新 INCLUDEPATH 和 LIBS
-- `Tools/VrEyeView/VrEyeView.pro` - 更新 INCLUDEPATH 和 LIBS
-
-#### App 模块（批量更新）
-批量更新了 App 目录下所有应用程序的 .pro 文件（约 27 个文件），包括：
-- GrabBag
-- BeltTearing
-- LapWeld
-- Workpiece
-- WorkpieceProject
-- BinocularMark
-- BagThreadPosition
-- ParticleSize
-- ScrewPosition
-- TunnelChannel
-- WheelMeasure
-- WorkpieceHole
-
-#### Test 模块
-- `Test/tcpclient/tcpclient_test.pro` - 更新路径
-- `Test/tcpserver/tcpserver_test.pro` - 更新路径
-
-### 4. 路径替换规则
-
-所有 .pro 文件中的路径按以下规则进行了替换：
-
-```
-旧路径                              新路径
-../../VrCommon/Inc              -> ../../Utils/VrCommon/Inc
-../../VrUtils/Inc               -> ../../Utils/VrUtils/Inc
-../../VrCommon/release          -> ../../Utils/VrCommon/release
-../../VrCommon/debug            -> ../../Utils/VrCommon/debug
-../../VrUtils/release           -> ../../Utils/VrUtils/release
-../../VrUtils/debug             -> ../../Utils/VrUtils/debug
-../../AppUtils/CloudUtils       -> ../../Utils/CloudUtils
-
-../../../VrCommon/Inc           -> ../../../Utils/VrCommon/Inc
-../../../VrUtils/Inc            -> ../../../Utils/VrUtils/Inc
-../../../VrCommon/release       -> ../../../Utils/VrCommon/release
-../../../VrCommon/debug         -> ../../../Utils/VrCommon/debug
-../../../VrUtils/release        -> ../../../Utils/VrUtils/release
-../../../VrUtils/debug          -> ../../../Utils/VrUtils/debug
-../../../AppUtils/CloudUtils    -> ../../../Utils/CloudUtils
-```
-
-### 5. Git 仓库初始化
-
-已在 Utils 目录下初始化 git 仓库：
-```bash
-cd Utils
-git init
-git add .
-```
-
-所有文件已添加到暂存区，等待提交。
-
-## 依赖关系
-
-更新后的依赖关系：
-
-```
-主项目 (GrabBagPrj)
-  └── Utils
-      ├── VrCommon
-      ├── VrUtils (依赖 VrCommon)
-      ├── CloudUtils (依赖 VrCommon, VrUtils)
-      ├── DataUtils (依赖 VrCommon)
-      └── CloudView (依赖 VrCommon, VrUtils, CloudUtils)
-  └── VrNets (依赖 Utils)
-  └── Module (依赖 Utils)
-  └── Device (依赖 Utils)
-  └── AppUtils (依赖 Utils)
-  └── App (依赖 Utils, VrNets, Module, Device, AppUtils)
-  └── Tools (依赖 Utils, Module, Robot)
-```
-
-## 下一步操作
-
-1. 在 Utils 目录下提交初始版本：
-   ```bash
-   cd Utils
-   git commit -m "初始提交：Utils 工具库模块"
-   ```
-
-2. 如果需要推送到远程仓库：
-   ```bash
-   git remote add origin <远程仓库地址>
-   git push -u origin master
-   ```
-
-3. 在主项目中，可以将 Utils 作为 git submodule 引用：
-   ```bash
-   cd ..
-   git submodule add  Utils
-   ```
-
-## 验证构建
-
-建议执行以下步骤验证构建：
-
-1. 清理旧的构建产物：
-   ```bash
-   cd GrabBagPrj
-   make clean
-   ```
-
-2. 重新生成 Makefile：
-   ```bash
-   qmake GrabBagPrj.pro
-   ```
-
-3. 编译项目：
-   ```bash
-   make
-   ```
-
-## 注意事项
-
-1. 所有路径更新已完成，但建议在实际编译前进行测试
-2. Utils 模块现在是独立的，可以被其他项目引用
-3. 如果需要修改 Utils 模块，应该在 Utils 目录下进行 git 操作
-4. 主项目的 .gitignore 应该排除 Utils 目录（如果使用 submodule）
-
-## 文件统计
-
-- 修改的 .pro 文件：约 60+ 个
-- 新建的文件：3 个（Utils.pro, README.md, .gitignore）
-- Utils 模块包含的文件：约 230+ 个
diff --git a/QUICKSTART.md b/QUICKSTART.md
deleted file mode 100644
index 1b24496..0000000
--- a/QUICKSTART.md
+++ /dev/null
@@ -1,201 +0,0 @@
-# Utils 模块快速参考指南
-
-## 快速开始
-
-### 1. 提交 Utils 仓库
-
-```bash
-cd Utils
-git commit -m "初始提交：Utils 工具库模块
-
-包含以下子模块：
-- VrCommon: 核心接口和数据结构
-- VrUtils: 工具类库（JSON、log4cpp、tinyxml2、INI、MD5、CRC）
-- CloudUtils: 点云工具
-- DataUtils: 数据处理工具（CloudMathClac、CoordinateTransform）
-- CloudView: 点云查看工具
-"
-```
-
-### 2. 添加远程仓库（可选）
-
-```bash
-# 添加远程仓库
-git remote add origin <你的远程仓库地址>
-
-# 推送到远程
-git push -u origin master
-```
-
-### 3. 在主项目中使用 submodule（可选）
-
-如果你想将 Utils 作为 git submodule 使用：
-
-```bash
-# 在主项目根目录
-cd ..
-
-# 删除当前的 Utils 目录（确保已备份）
-# rm -rf Utils
-
-# 添加为 submodule
-git submodule add  Utils
-
-# 提交 submodule 配置
-git add .gitmodules Utils
-git commit -m "将 Utils 添加为 git submodule"
-```
-
-## 在其他项目中使用 Utils
-
-### 方法 1: 作为 git submodule
-
-```bash
-# 在你的项目根目录
-git submodule add  Utils
-git submodule update --init --recursive
-```
-
-### 方法 2: 直接克隆
-
-```bash
-# 在你的项目根目录
-git clone  Utils
-```
-
-### 方法 3: 复制文件
-
-直接将 Utils 目录复制到你的项目中。
-
-## 在项目中引用 Utils
-
-### 在 .pro 文件中添加
-
-```qmake
-# 包含路径
-INCLUDEPATH += $$PWD/../Utils/VrCommon/Inc
-INCLUDEPATH += $$PWD/../Utils/VrUtils/Inc
-
-# 链接库（Windows）
-win32:CONFIG(release, debug|release): {
-    LIBS += -L$$PWD/../Utils/VrCommon/release -lVrCommon
-    LIBS += -L$$PWD/../Utils/VrUtils/release -lVrUtils
-}
-else:win32:CONFIG(debug, debug|release): {
-    LIBS += -L$$PWD/../Utils/VrCommon/debug -lVrCommon
-    LIBS += -L$$PWD/../Utils/VrUtils/debug -lVrUtils
-}
-
-# 链接库（Unix/Linux）
-else:unix:!macx {
-    LIBS += -L$$PWD/../Utils/VrCommon -lVrCommon
-    LIBS += -L$$PWD/../Utils/VrUtils -lVrUtils
-}
-```
-
-### 在主项目中添加 Utils 子项目
-
-```qmake
-# 在主项目的 .pro 文件中
-TEMPLATE = subdirs
-
-Utils.file = ../Utils/Utils.pro
-SUBDIRS += Utils
-
-# 设置依赖关系
-YourModule.depends = Utils
-```
-
-## 常用命令
-
-### 构建 Utils 模块
-
-```bash
-cd Utils
-qmake Utils.pro
-make
-```
-
-### 清理构建产物
-
-```bash
-cd Utils
-make clean
-```
-
-### 更新 Utils 模块（如果使用 submodule）
-
-```bash
-# 在主项目根目录
-git submodule update --remote Utils
-```
-
-## 模块说明
-
-### VrCommon
-- **用途**: 核心接口和数据结构定义
-- **主要文件**: VrCommon.h, VrConfigCmd.h, VrError.h
-- **依赖**: 无
-
-### VrUtils
-- **用途**: 通用工具类库
-- **主要功能**: 日志、JSON、XML、INI、MD5、CRC、时间、网络、文件、字符串
-- **依赖**: VrCommon
-
-### CloudUtils
-- **用途**: 点云数据处理工具
-- **主要功能**: 激光数据加载、点云图像转换
-- **依赖**: VrCommon, VrUtils
-
-### DataUtils
-- **用途**: 数据处理工具集
-- **子模块**: CloudMathClac（曲线拟合）、CoordinateTransform（坐标转换）
-- **依赖**: VrCommon
-
-### CloudView
-- **用途**: 点云可视化查看工具（独立应用）
-- **依赖**: VrCommon, VrUtils, CloudUtils
-
-## 故障排查
-
-### 问题 1: 找不到头文件
-
-**症状**: 编译时提示找不到 VrCommon.h 或 VrUtils 相关头文件
-
-**解决方案**:
-1. 检查 INCLUDEPATH 是否正确设置
-2. 确保相对路径正确（根据你的项目结构调整 `../` 的数量）
-3. 确保 Utils 目录存在且包含所有必要文件
-
-### 问题 2: 链接错误
-
-**症状**: 编译通过但链接时提示找不到库文件
-
-**解决方案**:
-1. 确保先编译 Utils 模块
-2. 检查 LIBS 路径是否正确
-3. 确认 debug/release 配置匹配
-
-### 问题 3: submodule 未初始化
-
-**症状**: Utils 目录为空
-
-**解决方案**:
-```bash
-git submodule update --init --recursive
-```
-
-## 版本管理建议
-
-### Utils 仓库
-- 使用语义化版本号（如 v1.0.0）
-- 为重要版本打 tag
-- 维护 CHANGELOG.md
-
-### 主项目
-- 如果使用 submodule，锁定 Utils 到特定版本
-- 定期更新 Utils 到最新稳定版本
-
-## 联系方式
-
-如有问题或建议，请联系项目维护者。