OSMisc.h

/***************************************************************************************************************:')

OSMisc.h

Miscellaneous things.

Fabrice Le Bars

Created : 2009-01-28

***************************************************************************************************************:)*/

// Prevent Visual Studio Intellisense from defining _WIN32 and _MSC_VER when we use 
// Visual Studio to edit Linux or Borland C++ code.
#ifdef __linux__
#	undef _WIN32
#endif // __linux__
#if defined(__GNUC__) || defined(__BORLANDC__)
#	undef _MSC_VER
#endif // defined(__GNUC__) || defined(__BORLANDC__)

#ifndef OSMISC_H
#define OSMISC_H

#ifdef WINCE
#define DISABLE_USER_INPUT_FUNCTIONS
#define DISABLE_USER_INPUT_TIMEOUT_FUNCTIONS
#endif // WINCE

#include "OSCore.h"

#ifndef DISABLE_USER_INPUT_FUNCTIONS
#ifndef DISABLE_USER_INPUT_TIMEOUT_FUNCTIONS
#include "OSTime.h"
#endif // !DISABLE_USER_INPUT_TIMEOUT_FUNCTIONS
#endif // !DISABLE_USER_INPUT_FUNCTIONS

/*
Debug macros specific to OSMisc.
*/
#ifdef _DEBUG_MESSAGES_OSUTILS
#	define _DEBUG_MESSAGES_OSMISC
#endif // _DEBUG_MESSAGES_OSUTILS

#ifdef _DEBUG_WARNINGS_OSUTILS
#	define _DEBUG_WARNINGS_OSMISC
#endif // _DEBUG_WARNINGS_OSUTILS

#ifdef _DEBUG_ERRORS_OSUTILS
#	define _DEBUG_ERRORS_OSMISC
#endif // _DEBUG_ERRORS_OSUTILS

#ifdef _DEBUG_MESSAGES_OSMISC
#	define PRINT_DEBUG_MESSAGE_OSMISC(params) PRINT_DEBUG_MESSAGE(params)
#else
#	define PRINT_DEBUG_MESSAGE_OSMISC(params)
#endif // _DEBUG_MESSAGES_OSMISC

#ifdef _DEBUG_WARNINGS_OSMISC
#	define PRINT_DEBUG_WARNING_OSMISC(params) PRINT_DEBUG_WARNING(params)
#else
#	define PRINT_DEBUG_WARNING_OSMISC(params)
#endif // _DEBUG_WARNINGS_OSMISC

#ifdef _DEBUG_ERRORS_OSMISC
#	define PRINT_DEBUG_ERROR_OSMISC(params) PRINT_DEBUG_ERROR(params)
#else
#	define PRINT_DEBUG_ERROR_OSMISC(params)
#endif // _DEBUG_ERRORS_OSMISC

#ifndef DISABLE_USER_INPUT_FUNCTIONS
#ifdef _WIN32
#else 
#ifndef DISABLE_CUSTOM_BAUDRATE
#ifdef __linux__
#pragma push_macro("termios")
#undef termios
#define termios termbits_termios
#include <asm/termbits.h> // Not compatible with termios.h, see https://stackoverflow.com/questions/37710525/including-termios-h-and-asm-termios-h-in-the-same-project...
#undef termios
#pragma pop_macro("termios")
#endif // __linux__
#endif // !DISABLE_CUSTOM_BAUDRATE
#include <termios.h>
#endif // _WIN32
#endif // !DISABLE_USER_INPUT_FUNCTIONS

#ifndef DISABLE_REBOOT_FUNCTIONS
#ifdef _WIN32
#else 
#include <sys/reboot.h>
#endif // _WIN32
#endif // !DISABLE_REBOOT_FUNCTIONS

//// To check...
//#ifdef __GNUC__
//#define _stricmp strcasecmp
//#define _strnicmp strncasecmp
//#define stricmp _stricmp
//#define strnicmp _strnicmp
//#endif // __GNUC__

// Need to be undefined at the end of the file...
// min and max might cause incompatibilities...
#ifndef max
#define max(a,b) (((a) > (b)) ? (a) : (b))
#endif // !max
#ifndef min
#define min(a,b) (((a) < (b)) ? (a) : (b))
#endif // !min

#define MAX_BUF_LEN 256

#define MAX_TIMEOUT_PROMPTGETUSERINPUTTIMEOUT 25500

// Kelvin to Celsius degrees conversions.
#define KELVIN2CELSIUS(temperature) ((temperature)-273.15)
#define CELSIUS2KELVIN(temperature) ((temperature)+273.15)

#define STANDARD_GRAVITY 9.80665

// Earth radius in m.
#define EARTH_RADIUS 6371000

#define EAST_NORTH_UP_COORDINATE_SYSTEM 0
#define NORTH_EAST_DOWN_COORDINATE_SYSTEM 1
#define NORTH_WEST_UP_COORDINATE_SYSTEM 2

#ifndef SQR_DEFINED
#define SQR_DEFINED
#ifndef sqr
/*
Compute the square of a value.

double x : (IN) Value.

Return : The square of x.
*/
inline double sqr(double x)
{
	return x*x;
}
#endif // !sqr
#endif // !SQR_DEFINED

#ifndef sq
#define sq(x) ((x)*(x))
#endif // !sq

#ifndef SIGN_DEFINED
#define SIGN_DEFINED
#ifndef sign
/*
Return +1 if x is positive, -1 if x is negative or x/epsilon if x is between -epsilon and epsilon.

double x : (IN) Value.
double epsilon : (IN) Threshold.

Return : +1, -1 or x/epsilon.
*/
inline double sign(double x, double epsilon)
{ 
	if (x >= epsilon) 
		return 1;
	else if (x <= -epsilon) 
		return -1;
	else if (epsilon == 0) 
		return 0;
	else 
		return x/epsilon;
}
#endif // !sign
#endif // !SIGN_DEFINED

#ifndef HYSTERESIS_DEFINED
#define HYSTERESIS_DEFINED
//#ifndef hysteresis
/*
Hysteresis.

double in : (IN) Input value.
double out : (IN) Current output value, should be -1 or 1.
double epsilon : (IN) Current output value should be kept if input value is in 
[-epsilon;epsilon[.

Return : +1, -1 or out.
*/
inline double hysteresis(double in, double out, double epsilon)
{
	if (in >= epsilon) out = 1;
	else if (in < -epsilon) out = -1;
	return out;
}
//#endif // !hysteresis
#endif // !HYSTERESIS_DEFINED

#ifndef constrain
#define constrain(amt,low,high) ((amt)<(low)?(low):((amt)>(high)?(high):(amt)))
#endif // !constrain

// See https://www.arduino.cc/reference/en/language/functions/math/map/.
inline double remap2range(double x, double in_min, double in_max, double out_min, double out_max)
{
	return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}

inline double quantification(double v, double step)
{
	//double q = 0;
	//q = q >= 0? floor(v/step+0.5): ceil(v/step-0.5);
	//q = q*step;
	return floor(v/step+0.5)*step;
}

// In rad.
inline void quaternion2euler(double qw, double qx, double qy, double qz, double* pRoll, double* pPitch, double* pYaw)
{
	*pRoll = atan2(2*qy*qz+2*qw*qx, 2*sqr(qw)+2*sqr(qz)-1);
	*pPitch = -asin(constrain(2*qx*qz-2*qw*qy, -1, 1)); // Attempt to avoid potential NAN...
	*pYaw = atan2(2*qx*qy+2*qw*qz, 2*sqr(qw)+2*sqr(qx)-1);
}

// In rad.
inline void euler2quaternion(double roll, double pitch, double yaw, double* pQw, double* pQx, double* pQy, double* pQz)
{
	double t0 = cos(yaw * 0.5);
	double t1 = sin(yaw * 0.5);
	double t2 = cos(roll * 0.5);
	double t3 = sin(roll * 0.5);
	double t4 = cos(pitch * 0.5);
	double t5 = sin(pitch * 0.5);
	*pQw = t0 * t2 * t4 + t1 * t3 * t5;
	*pQx = t0 * t3 * t4 - t1 * t2 * t5;
	*pQy = t0 * t2 * t5 + t1 * t3 * t4;
	*pQz = t1 * t2 * t4 - t0 * t3 * t5;
}

/*
Get the depth from the pressure (pressure difference = density x g x height).

double pressure : (IN) Pressure in bar.
double pressureref : (IN) Pressure at the surface in bar, used as reference (e.g. 1).
double density : (IN) Water density in kg/m3 (e.g. 1000).

Return : The depth in m.
*/
inline double Pressure2Height(double pressure, double pressureref, double density)
{
	return -(pressure-pressureref)*1e5/(density*STANDARD_GRAVITY);
}

/*
Get the pressure from the depth (pressure difference = density x g x height).

double depth : (IN) Depth in m.
double pressureref : (IN) Pressure at the surface in bar, used as reference (e.g. 1).
double density : (IN) Water density in kg/m3 (e.g. 1000).

Return : The pressure in bar.
*/
inline double Height2Pressure(double height, double pressureref, double density)
{
	return -(density*STANDARD_GRAVITY)*height/1e5+pressureref;
}

/*
Return an angle between 0 and 2*M_PI.

double theta : (IN) Value.

Return : The converted angle.
*/
inline double fmod_2PI_pos(double theta)
{
	return fmod(fmod(theta, 2*M_PI)+2*M_PI, 2*M_PI);
}

/*
Return an angle between -M_PI and M_PI.

double theta : (IN) Value.

Return : The converted angle.
*/
inline double fmod_2PI(double theta)
{
	return fmod(fmod(theta, 2*M_PI)+3*M_PI, 2*M_PI)-M_PI;
}

/*
Return an angle between 0 and 360.

double theta : (IN) Value.

Return : The converted angle.
*/
inline double fmod_360_pos(double theta)
{
	return fmod(fmod(theta, 2*180.0)+2*180.0, 2*180.0);
}

/*
Return an angle between -180 and 180.

double theta : (IN) Value.

Return : The converted angle.
*/
inline double fmod_360(double theta)
{
	return fmod(fmod(theta, 2*180.0)+3*180.0, 2*180.0)-180.0;
}

/*
Convert any angle in rad to an angle between 0 and 360 deg.

double theta : (IN) Value in rad.

Return : The converted angle in deg.
*/
inline double fmod_360_pos_rad2deg(double theta)
{
	return fmod(fmod(theta*180.0/M_PI, 2*180.0)+2*180.0, 2*180.0);
}

/*
Convert any angle in rad to an angle between -180 and 180 deg.

double theta : (IN) Value in rad.

Return : The converted angle in deg.
*/
inline double fmod_360_rad2deg(double theta)
{
	return fmod(fmod(theta*180.0/M_PI, 2*180.0)+3*180.0, 2*180.0)-180.0;
}

/*
Convert any angle in deg to an angle between 0 and 2*M_PI rad.

double theta : (IN) Value in deg.

Return : The converted angle in rad.
*/
inline double fmod_2PI_pos_deg2rad(double theta)
{
	return fmod(fmod(theta*M_PI/180.0, 2*M_PI)+2*M_PI, 2*M_PI);
}

/*
Convert any angle in deg to an angle between -M_PI and M_PI rad.

double theta : (IN) Value in deg.

Return : The converted angle in rad.
*/
inline double fmod_2PI_deg2rad(double theta)
{
	return fmod(fmod(theta*M_PI/180.0, 2*M_PI)+3*M_PI, 2*M_PI)-M_PI;
}

// From https://www.ensta-bretagne.fr/jaulin/robmooc.pdf.
inline double sawtooth(double theta)
{
	return 2*atan(tan(theta/2));
}

#ifndef MEAN_DEFINED
#define MEAN_DEFINED
#ifndef mean
/*
Compute the mean of a table.

double* tab : (IN) Table.
int tab_length : (IN) Number of elements in the table.

Return : The mean.
*/
inline double mean(double* tab, int tab_length)	
{
	double m = 0;
	int i = 0;

	for (i = tab_length-1; i >= 0; i--)	
	{
		m += tab[i];
	}
	m = m/tab_length;

	return m;
}
#endif // !mean
#endif // !MEAN_DEFINED

#ifndef VAR_DEFINED
#define VAR_DEFINED
#ifndef var
/*
Compute the variance of a table.

double* tab : (IN) Table.
int tab_length : (IN) Number of elements in the table.

Return : The variance.
*/
inline double var(double* tab, int tab_length)	
{
	double m = 0;
	double v = 0;
	int i = 0;

	for (i = tab_length-1; i >= 0; i--)	
	{
		m += tab[i];
	}
	m = m/tab_length;
	for (i = tab_length-1; i >= 0; i--)	
	{
		v += sqr(tab[i]-m);
	}
	v = v/tab_length;

	return v;
}
#endif // !var
#endif // !VAR_DEFINED

/*
Compute the mean of a table using a table of numbers of occurences for each value.

double* tab_values : (IN) Table of the different values.
double* tab_numbers : (IN) Table of the number of occurences for each value.
int tab_length : (IN) Number of elements in the table of values (should be the same for 
the table of numbers).

Return : The mean.
*/
inline double meann(double* tab_values, double* tab_numbers, int tab_length)	
{
	double m = 0;
	double n = 0;
	int i = 0;

	for (i = tab_length-1; i >= 0; i--)	
	{
		n += tab_numbers[i];
		m += tab_numbers[i]*tab_values[i];
	}
	m = m/n;

	return m;
}

/*
Compute the variance of a table using a table of numbers of occurences for each value.

double* tab_values : (IN) Table of the different values.
double* tab_numbers : (IN) Table of the number of occurences for each value.
int tab_length : (IN) Number of elements in the table of values (should be the same for 
the table of numbers).

Return : The variance.
*/
inline double varn(double* tab_values, double* tab_numbers, int tab_length)	
{
	double m = 0;
	double v = 0;
	double n = 0;
	int i = 0;

	for (i = tab_length-1; i >= 0; i--)	
	{
		n += tab_numbers[i];
		m += tab_numbers[i]*tab_values[i];
	}
	m = m/n;
	for (i = tab_length-1; i >= 0; i--)	
	{
		v += tab_numbers[i]*sqr(tab_values[i]-m);
	}
	v = v/n;

	return v;
}

// https://en.wikiversity.org/wiki/C_Source_Code/Find_the_median_and_mean
// https://www.tutorialspoint.com/learn_c_by_examples/median_program_in_c.htm
inline double median(double* tab_values, int tab_length)
{
	double temp = 0;
	int i = 0, j = 0;
	int n = tab_length;
	double* x = tab_values;

	// The following two loops sort the array x in ascending order.
	for (i = 0; i < n-1; i++) {
		for (j = i+1; j < n; j++) {
			if (x[j] < x[i]) {
				// Swap elements.
				temp = x[i];
				x[i] = x[j];
				x[j] = temp;
			}
		}
	}

	return x[n/2];
}

// https://en.wikiversity.org/wiki/C_Source_Code/Find_the_median_and_mean
// https://www.tutorialspoint.com/learn_c_by_examples/median_program_in_c.htm
inline double median2(double* tab_values, int tab_length)
{
	double temp = 0;
	int i = 0, j = 0;
	int n = tab_length;
	double* x = tab_values;

	// The following two loops sort the array x in ascending order.
	for (i = 0; i < n-1; i++) {
		for (j = i+1; j < n; j++) {
			if (x[j] < x[i]) {
				// Swap elements.
				temp = x[i];
				x[i] = x[j];
				x[j] = temp;
			}
		}
	}

	if (n%2 == 0)
	{
		// For an even number of elements, return the mean of the two elements in the middle.
		return ((x[n/2]+x[n/2-1])/2.0);
	}
	else
	{
		// Return the element in the middle.
		return x[n/2];
	}
}

// https://fr.wikipedia.org/wiki/Moyenne_mobile
// https://en.wikipedia.org/wiki/Moving_average
// http://www.cafemath.fr/mathblog/article.php?page=MovingAverages.php
inline double rect_mv_avg(double newvalue, double oldestvalue, double prevaverage, int n)
{
	return prevaverage+(newvalue-oldestvalue)/(double)n;
}

inline double exp_mv_avg(double newvalue, double prevaverage, double alpha)
{
	return alpha*prevaverage+(1.0-alpha)*newvalue;
}

// See also https://gist.github.com/mrfaptastic/3fd6394c5d6294c993d8b42b026578da?

// From https://www.ensta-bretagne.fr/lebars/Share/comm_file.zip.
inline int comm_write_val(char* filename, double val)
{
	FILE* file = fopen(filename, "w");
	if (file != NULL)
	{
		fprintf(file, "%f\n", val);
		fclose(file);
		return EXIT_SUCCESS;
	}
	return EXIT_FAILURE;
}

// From https://www.ensta-bretagne.fr/lebars/Share/comm_file.zip.
inline int comm_read_val(char* filename, double* pVal)
{
	int ret = EXIT_FAILURE;
	int nb = 0;
	double val = 0;
	char c = 0;
	FILE* file = fopen(filename, "r");
	if (file != NULL)
	{
		nb = fscanf(file, "%lf%c\n", &val, &c);
		if ((nb == 2)&&((c=='\n')||(c=='\r'))) { *pVal = val; ret = EXIT_SUCCESS; }
		fclose(file);
	}
	return ret;
}

#ifndef FGETS2_DEFINED
#define FGETS2_DEFINED
/*
Return a line of a file using fgets(), skipping lines that begin with a '%'. 
Return NULL when a line begins with a '$' or when fgets() returns NULL.

FILE* file : (IN) Pointer to a file.
char* line : (IN) Storage location for data.
int nbChar : (IN) Maximum number of characters to read.

Return : The line or NULL.
*/
inline char* fgets2(FILE* file, char* line, int nbChar)
{ 
	char* r = NULL;

	do   
	{
		r = fgets(line, nbChar, file);
	} 
	while ((line[0] == '%') && (r != NULL));

	if (line[0] == '$')
	{
		r = NULL;
	}

	return r;
}
#endif // !FGETS2_DEFINED

/*
Return a line of a file using fgets(), skipping lines that begin with a '%' 
(Scilab-style comments), a '#' (Linux configuration files-style comments) or 
"//" (C-style comments). 
Return NULL when a line begins with a '$' or when fgets() returns NULL, or if 
the maximum number of characters to read is less than 2.

FILE* file : (IN) Pointer to a file.
char* line : (IN) Storage location for data.
int nbChar : (IN) Maximum number of characters to read.

Return : The line or NULL.
*/
inline char* fgets3(FILE* file, char* line, int nbChar)
{ 
	char* r = NULL;

	if (nbChar < 2)
	{
		return NULL;
	}

	do   
	{
		r = fgets(line, nbChar, file);
	} 
	while ((
		(line[0] == '%')||
		(line[0] == '#')||
		((line[0] == '/')&&(line[1] == '/'))
		) && (r != NULL));

	if (line[0] == '$')
	{
		r = NULL;
	}

	return r;
}

/*
Return a line of a file using fgets(), skipping lines that begin with a '%' 
(Scilab-style comments), a '#' (Linux configuration files-style comments) or 
"//" (C-style comments). 
Return NULL when fgets() returns NULL, or if 
the maximum number of characters to read is less than 2.

FILE* file : (IN) Pointer to a file.
char* line : (IN) Storage location for data.
int nbChar : (IN) Maximum number of characters to read.

Return : The line or NULL.
*/
inline char* fgets4(FILE* file, char* line, int nbChar)
{ 
	char* r = NULL;

	if (nbChar < 2)
	{
		return NULL;
	}

	do   
	{
		r = fgets(line, nbChar, file);
	} 
	while ((
		(line[0] == '%')||
		(line[0] == '#')||
		((line[0] == '/')&&(line[1] == '/'))
		) && (r != NULL));

	return r;
}

/*
Return a line from an input file using fgets(), skipping lines that begin with a '%' 
(Scilab-style comments), a '#' (Linux configuration files-style comments) or 
"//" (C-style comments). 
Return NULL when a line begins with a '$' or when fgets() returns NULL, or if 
the maximum number of characters to read is less than 2.
All the skipped lines are saved to the output file.

FILE* filein : (IN) Pointer to an input file.
FILE* fileout : (IN) Pointer to an output file.
char* line : (IN) Storage location for data.
int nbChar : (IN) Maximum number of characters to read.

Return : The line or NULL.
*/
inline char* fgetscopy3(FILE* filein, FILE* fileout, char* line, int nbChar)
{
	char* r = NULL;

	if (nbChar < 2)
	{
		return NULL;
	}

	for (;;)
	{
		r = fgets(line, nbChar, filein);
		if ((
			(line[0] == '%')||
			(line[0] == '#')||
			((line[0] == '/')&&(line[1] == '/'))
			) && (r != NULL))
		{
			if (fprintf(fileout, "%s", line) < 0) return NULL;
		}
		else
		{
			break;
		}
	}

	if (line[0] == '$')
	{
		if (r != NULL) fprintf(fileout, "%s", line);
		r = NULL;
	}

	return r;
}

/*
Return : The current line number or -1 if an error occurs.
*/
inline int ftellline(FILE* file)
{ 
	int cur = 0, i = 0;
	char* r = NULL;
	char line[1024];

	cur = ftell(file);
	rewind(file);

	do
	{
		do
		{
			r = fgets(line, sizeof(line), file);
			if (r == NULL) 
			{
				// Go back to initial position.
				fseek(file, cur, SEEK_SET);
				return -1;
			}
		} while ((strlen(r) == sizeof(line)-1)&&(r[sizeof(line)-2] != '\n'));
		i++;
	} while (ftell(file) <= cur);

	// Go back to initial position.
	if (fseek(file, cur, SEEK_SET) != EXIT_SUCCESS) return -1;

	return i;
}

/*
Return : EXIT_SUCCESS or EXIT_FAILURE if linenumber does not exist and in this case 
the file tries to stay at its original position unless a file error occurs.
*/
inline int fsetline(FILE* file, int linenumber)
{ 
	int cur = 0, i = 0;
	char* r = NULL;
	char line[1024];

	if (linenumber <= 0) return EXIT_FAILURE;

	cur = ftell(file);
	rewind(file);

	while (i < linenumber-1)
	{
		do
		{
			r = fgets(line, sizeof(line), file);
			if (r == NULL) 
			{
				// If fgets() fails, try to go back to initial position.
				clearerr(file);
				fseek(file, cur, SEEK_SET);
				return EXIT_FAILURE;
			}
		} while ((strlen(r) == sizeof(line)-1)&&(r[sizeof(line)-2] != '\n'));
		i++;
	} 

	return EXIT_SUCCESS;
}

inline int fload(char* szFilePath, unsigned char* buf, size_t elementsize, size_t count, size_t* pBytesLoaded)
{
	FILE* file = NULL;

	file = fopen(szFilePath, "rb");

	if (file == NULL)
	{
		return EXIT_FAILURE;
	}

	*pBytesLoaded = fread(buf, elementsize, count, file);
	if (*pBytesLoaded <= 0)
	{
		// Empty file, elementsize or count is 0, or there was an error.
		fclose(file);
		return EXIT_FAILURE;
	}

	if (feof(file) == 0)
	{
		// buf was not big enough or there was an error.
		fclose(file);
		return EXIT_FAILURE;
	}

	if (fclose(file) != EXIT_SUCCESS)
	{
		return EXIT_FAILURE;
	}

	return EXIT_SUCCESS;
}

inline int fsave(char* szFilePath, unsigned char* buf, size_t elementsize, size_t count, size_t* pBytesSaved)
{
	FILE* file = NULL;

	file = fopen(szFilePath, "wb");

	if (file == NULL)
	{
		return EXIT_FAILURE;
	}

	*pBytesSaved = fwrite(buf, elementsize, count, file);
	if (*pBytesSaved != elementsize*count)
	{
		fclose(file);
		return EXIT_FAILURE;
	}

	if (fclose(file) != EXIT_SUCCESS)
	{
		return EXIT_FAILURE;
	}

	return EXIT_SUCCESS;
}

inline int fcopyload(char* szFromFilePath, char* szToFilePath, unsigned char* buf, size_t elementsize, size_t count, size_t* pBytesCopied)
{
	FILE* fromfile = NULL;
	FILE* tofile = NULL;
	size_t BytesRead = 0;

	fromfile = fopen(szFromFilePath, "rb");
	if (fromfile == NULL)
	{
		return EXIT_FAILURE;
	}

	tofile = fopen(szToFilePath, "wb");
	if (tofile == NULL)
	{
		fclose(fromfile);
		return EXIT_FAILURE;
	}

	BytesRead = fread(buf, elementsize, count, fromfile);
	if (BytesRead <= 0)
	{
		// Empty file, elementsize or count is 0, or there was an error.
		fclose(tofile);
		fclose(fromfile);
		return EXIT_FAILURE;
	}

	if (feof(fromfile) == 0)
	{
		// buf was not big enough or there was an error.
		fclose(tofile);
		fclose(fromfile);
		return EXIT_FAILURE;
	}

	*pBytesCopied = fwrite(buf, elementsize, BytesRead, tofile);
	if (*pBytesCopied != BytesRead)
	{
		fclose(tofile);
		fclose(fromfile);
		return EXIT_FAILURE;
	}

	if (fclose(tofile) != EXIT_SUCCESS)
	{
		fclose(fromfile);
		return EXIT_FAILURE;
	}

	if (fclose(fromfile) != EXIT_SUCCESS)
	{
		return EXIT_FAILURE;
	}

	return EXIT_SUCCESS;
}

inline int fcopy(char* szFromFilePath, char* szToFilePath, size_t* pBytesCopied)
{
	FILE* fromfile = NULL;
	FILE* tofile = NULL;
	unsigned char buf[1024];
	size_t BytesRead = 0, BytesWritten = 0;

	fromfile = fopen(szFromFilePath, "rb");
	if (fromfile == NULL)
	{
		return EXIT_FAILURE;
	}

	tofile = fopen(szToFilePath, "wb");
	if (tofile == NULL)
	{
		fclose(fromfile);
		return EXIT_FAILURE;
	}

	*pBytesCopied = 0;
	do
	{
		BytesRead = fread(buf, sizeof(buf), 1, fromfile);
		if (BytesRead <= 0)
		{
			// Empty file, elementsize or count is 0, or there was an error.
			fclose(tofile);
			fclose(fromfile);
			return EXIT_FAILURE;
		}

		BytesWritten = fwrite(buf, BytesRead, 1, tofile);
		if (BytesWritten != BytesRead)
		{
			fclose(tofile);
			fclose(fromfile);
			return EXIT_FAILURE;
		}

		*pBytesCopied += BytesWritten;
	}
	while (feof(fromfile) == 0);

	if (fclose(tofile) != EXIT_SUCCESS)
	{
		fclose(fromfile);
		return EXIT_FAILURE;
	}

	if (fclose(fromfile) != EXIT_SUCCESS)
	{
		return EXIT_FAILURE;
	}

	return EXIT_SUCCESS;
}

inline void RemoveExtensionInFilePath(char* szFilePath)
{
	// WIN32_WINNT 0x0602 : PathCchRemoveExtension 
	// WIN32 : PathRemoveExtension 

	int idx = 0;

	for (idx = (int)strlen(szFilePath)-1; idx >= 0; idx--) { if (szFilePath[idx] == '.') break; }
	if ((idx > 0)&&(idx < (int)strlen(szFilePath))) memset(szFilePath+idx, 0, strlen(szFilePath)-idx);
}

inline void RemovePathInFilePath(char* szFilePath)
{
	int idx = 0;
	BOOL bFound = FALSE;

	for (idx = (int)strlen(szFilePath)-2; idx >= 0; idx--)
	{ 
		if ((szFilePath[idx] == '/')||(szFilePath[idx] == '\\'))
		{
			bFound = TRUE;
			break; 
		}
	}
	if ((bFound)&&(idx >= 0)&&(idx < (int)strlen(szFilePath)-1)) memmove(szFilePath, szFilePath+idx+1, strlen(szFilePath)-idx);
}

inline void GetFileNameAndFilePathAndChangeExtension(char* szFileInPath, char* szNewExtension, char* szFileOutPath, char* szFileOutName)
{
	// WIN32_WINNT 0x0602 : PathCchRenameExtension 
	// WIN32 : PathRenameExtension 

	strcpy(szFileOutPath, szFileInPath);
	RemoveExtensionInFilePath(szFileOutPath);
	strcpy(szFileOutName, szFileOutPath);
	strcat(szFileOutPath, szNewExtension);
	RemovePathInFilePath(szFileOutName);
}

inline void RemoveSurroundingWhiteSpacesInString(char** pszFilePath)
{
	char* szFilePath = *pszFilePath;
	while ((szFilePath[strlen(szFilePath)-1] == ' ')||(szFilePath[strlen(szFilePath)-1] == '\t')||
		(szFilePath[strlen(szFilePath)-1] == '\n')||(szFilePath[strlen(szFilePath)-1] == '\r'))
	{
		szFilePath[strlen(szFilePath)-1] = 0;
	}
	while ((szFilePath[0] == ' ')||(szFilePath[0] == '\t')||
		(szFilePath[0] == '\n')||(szFilePath[0] == '\r'))
	{
		*pszFilePath = szFilePath+1;
		szFilePath = *pszFilePath;
	}
}

inline void RemoveSurroundingCommasInString(char** pszFilePath)
{
	char* szFilePath = *pszFilePath;

	//if (((szFilePath[0] == '\'')&&(szFilePath[strlen(szFilePath)-1] == '\''))||
	//	((szFilePath[0] == '\"')&&(szFilePath[strlen(szFilePath)-1] == '\"')))
	//{
	//	szFilePath[strlen(szFilePath)-1] = 0;
	//	*pszFilePath = szFilePath+1;
	//}
	while ((szFilePath[strlen(szFilePath)-1] == '\'')||(szFilePath[strlen(szFilePath)-1] == '\"'))
	{
		szFilePath[strlen(szFilePath)-1] = 0;
	}
	while ((szFilePath[0] == '\'')||(szFilePath[0] == '\"'))
	{
		*pszFilePath = szFilePath+1;
		szFilePath = *pszFilePath;
	}
}

#ifndef STRISTR_DEFINED
#define STRISTR_DEFINED
// From the Snippets collection SNIP9707.ZIP...
inline char* stristr(char* String, char* Pattern)
{
	char* pptr = NULL;
	char* sptr = NULL;
	char* start = NULL;

	for (start = (char*)String; *start != 0; start++)
	{
		// Find start of pattern in string.
		for (; ((*start != 0) && (toupper(*start)!= toupper(*Pattern))); start++)
			;
		if (0 == *start)
			return NULL;

		pptr = (char*)Pattern;
		sptr = (char*)start;

		while (toupper(*sptr) == toupper(*pptr))
		{
			sptr++;
			pptr++;

			// If end of pattern then pattern was found.

			if (0 == *pptr)
				return (start);
		}
	}

	return NULL;
}
#endif // !STRISTR_DEFINED

// *pOut of length *pOutstrlen will not contain beginpattern nor endpattern...
inline char* strstrbeginend(char* str, char* beginpattern, char* endpattern, char** pOut, int* pOutstrlen)
{
	char* ptr = NULL;
	char* ptr2 = NULL;

	ptr = strstr(str, beginpattern);
	if (ptr == NULL)
	{
		*pOut = NULL;
		*pOutstrlen = 0;
		return NULL;
	}
	ptr2 = strstr(ptr+strlen(beginpattern), endpattern);
	if (ptr2 == NULL)
	{
		*pOut = NULL;
		*pOutstrlen = 0;
		return NULL;
	}
	*pOutstrlen = (int)(ptr2-(ptr+strlen(beginpattern)));
	if (*pOutstrlen < 0)
	{
		*pOut = NULL;
		*pOutstrlen = 0;
		return NULL;
	}
	*pOut = ptr+strlen(beginpattern);

	return *pOut;
}

// *pOut of length *pOutstrlen will not contain beginpattern nor endpattern...
inline char* stristrbeginend(char* str, char* beginpattern, char* endpattern, char** pOut, int* pOutstrlen)
{
	char* ptr = NULL;
	char* ptr2 = NULL;

	ptr = stristr(str, beginpattern);
	if (ptr == NULL)
	{
		*pOut = NULL;
		*pOutstrlen = 0;
		return NULL;
	}
	ptr2 = stristr(ptr+strlen(beginpattern), endpattern);
	if (ptr2 == NULL)
	{
		*pOut = NULL;
		*pOutstrlen = 0;
		return NULL;
	}
	*pOutstrlen = (int)(ptr2-(ptr+strlen(beginpattern)));
	if (*pOutstrlen < 0)
	{
		*pOut = NULL;
		*pOutstrlen = 0;
		return NULL;
	}
	*pOut = ptr+strlen(beginpattern);

	return *pOut;
}

// Reverse search : the last occurence will be returned.
// *pOut of length *pOutstrlen will not contain beginpattern nor endpattern...
inline char* rstrstrbeginend(char* str, char* beginpattern, char* endpattern, char** pOut, int* pOutstrlen)
{
    *pOut = NULL;
	*pOutstrlen = 0;
    for (;;) 
	{
		int plen = 0;
        char* p = strstrbeginend(str, beginpattern, endpattern, &p, &plen);
        if (p == NULL)
            break;
		*pOut = p;
		*pOutstrlen = plen;
        str = p-strlen(beginpattern)+1;
    }

    return *pOut;
}

// Reverse search : the last occurence will be returned.
// *pOut of length *pOutstrlen will not contain beginpattern nor endpattern...
inline char* rstristrbeginend(char* str, char* beginpattern, char* endpattern, char** pOut, int* pOutstrlen)
{
    *pOut = NULL;
	*pOutstrlen = 0;
    for (;;) 
	{
		int plen = 0;
        char* p = stristrbeginend(str, beginpattern, endpattern, &p, &plen);
        if (p == NULL)
            break;
		*pOut = p;
		*pOutstrlen = plen;
        str = p-strlen(beginpattern)+1;
    }

    return *pOut;
}

inline double sensor_err(double bias_err, double max_rand_err)
{
	return bias_err+max_rand_err*(2.0*rand()/(double)RAND_MAX-1.0);
}

// Remember to reset *pipsi to 0 whenever this control is re-enabled.
// direction_coef : depending on the type of robot, we need to invert depending on the direction of the movement, 
// set to -1 if needed or 1 otherwise.
inline double PID_angle_control(double psi_bar, double psi_bar_prev, double psi, double omega, double* pipsi, double direction_coef, double dt,
	double Kp, double Kd, double Ki, double up_max, double ud_max, double ui_max,
	double u_min, double u_max, double error_min, double error_max, double omega_max)
{
	double u = 0;
	double error = fmod_2PI(psi_bar-psi);
	double derivative = -omega;
	double integral = *pipsi;
	if (psi_bar != psi_bar_prev) integral = 0;
	if (error > error_max)
	{
		u = sign(direction_coef, 0)*u_max;
		integral = 0;
	}
	else if (error < error_min)
	{
		u = sign(direction_coef, 0)*u_min;
		integral = 0;
	}
	else
	{
		if (fabs(Kp*error/M_PI) > up_max) u += sign(direction_coef, 0)*sign(Kp*error/M_PI, 0)*up_max;
		else u += sign(direction_coef, 0)*Kp*error/M_PI; // /M_PI to try to normalize...
		if (fabs(Kd*derivative/omega_max) > ud_max) u += sign(direction_coef, 0)*sign(Kd*derivative/omega_max, 0)*ud_max;
		else u += sign(direction_coef, 0)*Kd*derivative/omega_max; // /omegaz_max to try to normalize...
		if (fabs(Ki*integral/M_PI) > ui_max) u += sign(direction_coef, 0)*sign(Ki*integral/M_PI, 0)*ui_max;
		else u += sign(direction_coef, 0)*Ki*integral/M_PI; // /M_PI to try to normalize...
		integral = integral+error*dt;
	}
	u = (u < u_min)? u_min: ((u > u_max)? u_max: u);
	*pipsi = integral;
	return u;
}

// Remember to reset *piz to 0 whenever this control is re-enabled.
// direction_coef : depending on the type of robot, we need to invert depending on the direction of the movement, 
// set to -1 if needed or 1 otherwise.
inline double PID_control(double z_bar, double z_bar_prev, double z, double dz, double* piz, double direction_coef, double dt,
	double Kp, double Kd, double Ki, double up_max, double ud_max, double ui_max,
	double u_min, double u_max, double error_min, double error_max, double dz_max)
{
	double u = 0;
	double error = z_bar-z;
	double derivative = -dz;
	double integral = *piz;
	if (z_bar != z_bar_prev) integral = 0;
	if (error > error_max)
	{
		u = sign(direction_coef, 0)*u_max;
		integral = 0;
	}
	else if (error < error_min)
	{
		u = sign(direction_coef, 0)*u_min;
		integral = 0;
	}
	else
	{
		if (fabs(Kp*error) > up_max) u += sign(direction_coef, 0)*sign(Kp*error, 0)*up_max;
		else u += sign(direction_coef, 0)*Kp*error;
		if (fabs(Kd*derivative/dz_max) > ud_max) u += sign(direction_coef, 0)*sign(Kd*derivative/dz_max, 0)*ud_max;
		else u += sign(direction_coef, 0)*Kd*derivative/dz_max; // /dz_max to try to normalize...
		if (fabs(Ki*integral) > ui_max) u += sign(direction_coef, 0)*sign(Ki*integral, 0)*ui_max;
		else u += sign(direction_coef, 0)*Ki*integral;
		integral = integral+error*dt;
	}
	u = (u < u_min)? u_min: ((u > u_max)? u_max: u);
	*piz = integral;
	return u;
}

// Return theta_star (see http://www.ensta-bretagne.fr/jaulin/paper_jaulin_irsc12.pdf).
// Remember to reset *pie to 0 if this control has been disabled during some time...
inline double LineFollowing_integral(double phi, double phi_prev, double e, double* pie, double gamma_infinite, double r, double Ki, double integral_max, double dt)
{
	double psi_star = 0;
	double integral = *pie;
	if (phi != phi_prev) integral = 0;
	//if (fabs(Ki*integral) > integral_max) psi_star = phi-(2.0*gamma_infinite/M_PI)*atan2((e+sign(Ki*integral, 0)*integral_max),r);
	//else psi_star = phi-(2.0*gamma_infinite/M_PI)*atan2((e+Ki*integral),r); 
	if (fabs(Ki*integral) > integral_max) psi_star = phi-gamma_infinite*sign((e+sign(Ki*integral, 0)*integral_max),r);
	else psi_star = phi-gamma_infinite*sign((e+Ki*integral),r); 
	integral = integral+e*dt;
	*pie = integral;
	return psi_star;
}

// Return theta_star (see http://www.ensta-bretagne.fr/jaulin/paper_jaulin_irsc12.pdf).
inline double LineFollowing(double phi, double e, double gamma_infinite, double r)
{
	//printf("theta_star = %f deg\n", fmod_2PI(phi-(2.0*gamma_infinite/M_PI)*atan(e/r))*180.0/M_PI);
	//printf("theta_star = %f deg\n", fmod_2PI(phi-(2.0*gamma_infinite/M_PI)*atan2(e,r))*180.0/M_PI);

	//return phi-(2.0*gamma_infinite/M_PI)*atan(e/r);
	//return phi-(2.0*gamma_infinite/M_PI)*atan2(e,r);
	return phi-gamma_infinite*sign(e,r);
}

/*
Swap the bits of a given number coded on 8 bits.

uint8 x : (IN) The number to swap.

Return : The number swapped.
*/
inline uint8 SwapBits(uint8 x)
{
	return  
		((x & 0x01) << 7) | ((x & 0x02) << 5) | ((x & 0x04) << 3) | ((x & 0x08) << 1) | 
		((x & 0x10) >> 1) | ((x & 0x20) >> 3) | ((x & 0x40) >> 5) | ((x & 0x80) >> 7);
}

inline void SwapBytes(unsigned char* buf, int nb)
{
	int i = 0;
	int sym_i = 0;
	unsigned char byte = 0;

	for (i = nb/2-1; i >= 0; i--)
	{
		sym_i = nb-1-i;
		byte = buf[sym_i];
		buf[sym_i] = buf[i];
		buf[i] = byte;
	}
}

/*
Calculation of CRC-16 checksum over an amount of bytes in the serial buffer.
The calculation is done without the 2 bytes from CRC-16 (receive-mode).

uint8* SC_Buffer : (IN) Buffer from the serial interface.
int SC_Amount : (IN) Amount of bytes which are received or should be transmitted (without CRC-16).
uint8* crc_h : (INOUT) Valid pointer that should receive the MSB of the CRC-16.
uint8* crc_l: (INOUT) Valid pointer that should receive the LSB of the CRC-16.

Return : Nothing.
*/
inline void CalcCRC16(uint8* SC_Buffer, int SC_Amount, uint8* crc_h, uint8* crc_l)
{
	// Locals.
	unsigned int Crc;
	unsigned char n, m, x;

	// Initialization.
	Crc = 0xFFFF;
	m = (unsigned char)SC_Amount;
	x = 0;

	// Loop over all bits.
	while (m > 0)
	{
		Crc ^= SC_Buffer[x];
		for (n = 0; n < 8 ; n++)
		{
			if (Crc &1)
			{
				Crc >>= 1;
				Crc ^= 0xA001;
			}
			else
				Crc >>= 1;
		}
		m--;
		x++;
	}

	// Result.
	*crc_h = (uint8)((Crc>>8)&0xFF);
	*crc_l = (uint8)(Crc&0xFF);
}

/*
Convert GPS data to coordinates in a reference coordinate system.

double lat0 : (IN) GPS latitude of the reference coordinate system origin (in decimal deg).
double long0 : (IN) GPS longitude of the reference coordinate system origin (in decimal deg).
double alt0 : (IN) GPS altitude of the reference coordinate system origin (in m).
double latitude : (IN) GPS latitude (in decimal deg).
double longitude : (IN) GPS longitude (in decimal deg).
double altitude : (IN) GPS altitude (in m).
double* pX : (INOUT) Valid pointer that will receive the x coordinate in the reference coordinate 
system (in m).
double* pY : (INOUT) Valid pointer that will receive the y coordinate in the reference coordinate 
system (in m).
double* pZ : (INOUT) Valid pointer that will receive the z coordinate in the reference coordinate 
system (in m).
int cstype : (IN) Either EAST_NORTH_UP_COORDINATE_SYSTEM, NORTH_EAST_DOWN_COORDINATE_SYSTEM 
or NORTH_WEST_UP_COORDINATE_SYSTEM.

Return : Nothing.
*/
inline void GPS2RefCoordSystem(double lat0, double long0, double alt0,
							   double latitude, double longitude, double altitude,
							   double* pX, double* pY, double* pZ,
							   int cstype)
{
	switch (cstype)
	{
	case NORTH_EAST_DOWN_COORDINATE_SYSTEM:
		*pX = (M_PI/180.0)*EARTH_RADIUS*(latitude-lat0);
		*pY = (M_PI/180.0)*EARTH_RADIUS*(longitude-long0)*cos((M_PI/180.0)*latitude);
		*pZ = alt0-altitude;
		break;
	case NORTH_WEST_UP_COORDINATE_SYSTEM:
		*pX = (M_PI/180.0)*EARTH_RADIUS*(latitude-lat0);
		*pY = (M_PI/180.0)*EARTH_RADIUS*(long0-longitude)*cos((M_PI/180.0)*latitude);
		*pZ = altitude-alt0;
		break;
	default: // EAST_NORTH_UP_COORDINATE_SYSTEM
		*pX = (M_PI/180.0)*EARTH_RADIUS*(longitude-long0)*cos((M_PI/180.0)*latitude);
		*pY = (M_PI/180.0)*EARTH_RADIUS*(latitude-lat0);
		*pZ = altitude-alt0;
		break;
	}
}

/*
Convert coordinates in a reference coordinate system to GPS data.

double lat0 : (IN) GPS latitude of the reference coordinate system origin (in decimal deg).
double long0 : (IN) GPS longitude of the reference coordinate system origin (in decimal deg).
double alt0 : (IN) GPS altitude of the reference coordinate system origin (in m).
double x : (IN) x coordinate in the reference coordinate system (in m).
double y : (IN) y coordinate in the reference coordinate system (in m).
double z : (IN) z coordinate in the reference coordinate system (in m).
double* pLatitude : (INOUT) Valid pointer that will receive the GPS latitude (in decimal deg).
double* pLongitude : (INOUT) Valid pointer that will receive the GPS longitude (in decimal deg).
double* pAltitude : (INOUT) Valid pointer that will receive the GPS altitude (in m).
int cstype : (IN) Either EAST_NORTH_UP_COORDINATE_SYSTEM, NORTH_EAST_DOWN_COORDINATE_SYSTEM 
or NORTH_WEST_UP_COORDINATE_SYSTEM.

Return : Nothing.
*/
inline void RefCoordSystem2GPS(double lat0, double long0, double alt0, 
							   double x, double y, double z,
							   double* pLatitude, double* pLongitude, double* pAltitude,
							   int cstype)
{
	switch (cstype)
	{
	case NORTH_EAST_DOWN_COORDINATE_SYSTEM:
		*pLatitude = (x/(double)EARTH_RADIUS)*(180.0/M_PI)+lat0;
		if ((fabs(*pLatitude-90.0) < DBL_EPSILON)||(fabs(*pLatitude+90.0) < DBL_EPSILON))
		{
			*pLongitude = 0;
		}
		else
		{
			*pLongitude = (y/(double)EARTH_RADIUS)*(180.0/M_PI)/cos((M_PI/180.0)*(*pLatitude))+long0;
		}
		*pAltitude = alt0-z;
		break;
	case NORTH_WEST_UP_COORDINATE_SYSTEM:
		*pLatitude = (x/(double)EARTH_RADIUS)*(180.0/M_PI)+lat0;
		if ((fabs(*pLatitude-90.0) < DBL_EPSILON)||(fabs(*pLatitude+90.0) < DBL_EPSILON))
		{
			*pLongitude = 0;
		}
		else
		{
			*pLongitude = long0-(y/(double)EARTH_RADIUS)*(180.0/M_PI)/cos((M_PI/180.0)*(*pLatitude));
		}
		*pAltitude = z+alt0;
		break;
	default: // EAST_NORTH_UP_COORDINATE_SYSTEM
		*pLatitude = (y/(double)EARTH_RADIUS)*(180.0/M_PI)+lat0;
		if ((fabs(*pLatitude-90.0) < DBL_EPSILON)||(fabs(*pLatitude+90.0) < DBL_EPSILON))
		{
			*pLongitude = 0;
		}
		else
		{
			*pLongitude = (x/(double)EARTH_RADIUS)*(180.0/M_PI)/cos((M_PI/180.0)*(*pLatitude))+long0;
		}
		*pAltitude = z+alt0;
		break;
	}
}

inline double longitude180handling(double long0, double longa, double longb, double longitude)
{
	if ((((longa >= 90)&&(longa <= 180))&&((longb >= -180)&&(longb <= -90)))||
		(((longb >= 90)&&(longb <= 180))&&((longa >= -180)&&(longa <= -90))))
	{
		if (long0 >= 0)
		{
			if (longitude < 0) return longitude+360;
		}
		else
		{
			if (longitude > 0) return longitude-360;
		}
	}
	return longitude;
}

inline void LineGPS2RefCoordSystem(double lat0, double long0, double alt0, 
							double lata, double longa, double alta, double latb, double longb, double altb, 
							double* pax, double* pay, double* paz, double* pbx, double* pby, double* pbz, 
							int cstype)
{
	GPS2RefCoordSystem(lat0, long0, alt0, lata, longitude180handling(long0, longa, longb, longa), alta, pax, pay, paz, cstype);
	GPS2RefCoordSystem(lat0, long0, alt0, latb, longitude180handling(long0, longa, longb, longb), altb, pbx, pby, pbz, cstype);
}

// angle_env : Angle of the x axis of the environment coordinate system 
// w.r.t. an East - North - Up coordinate system, should be set to 0 if no 
// specific environment (i.e. an East - North - Up coordinate system) 
// is used as reference (in rad).
inline void GPS2EnvCoordSystem(double lat_env, double long_env, double alt_env, double angle_env,
							   double latitude, double longitude, double altitude,
							   double* pX, double* pY, double* pZ)
{
	double x_enu = 0, y_enu = 0, z_enu = 0;

	GPS2RefCoordSystem(lat_env, long_env, alt_env, latitude, longitude, altitude, &x_enu, &y_enu, &z_enu, EAST_NORTH_UP_COORDINATE_SYSTEM);

	// Conversion from East - North - Up to environment coordinate system.
	*pX = x_enu*cos(-angle_env)-y_enu*sin(-angle_env);
	*pY = x_enu*sin(-angle_env)+y_enu*cos(-angle_env);
	*pZ = z_enu;
}

inline void EnvCoordSystem2GPS(double lat_env, double long_env, double alt_env, double angle_env, 
							   double x, double y, double z,
							   double* pLatitude, double* pLongitude, double* pAltitude)
{
	double x_enu = 0, y_enu = 0, z_enu = 0;

	// Conversion from environment to East - North - Up coordinate system.
	x_enu = x*cos(angle_env)-y*sin(angle_env);
	y_enu = x*sin(angle_env)+y*cos(angle_env);
	z_enu = z;

	RefCoordSystem2GPS(lat_env, long_env, alt_env, x_enu, y_enu, z_enu, pLatitude, pLongitude, pAltitude, EAST_NORTH_UP_COORDINATE_SYSTEM);
}

// The angles conversions are most of the time used separately...
inline void Robot2EnvCoordSystem(double x_robot, double y_robot, double z_robot, double theta_robot,
								 double x, double y, double z, //double theta,
								 double* pX, double* pY, double* pZ//, double* pTheta
								 )
{
	*pX = x*cos(theta_robot)-y*sin(theta_robot)+x_robot;
	*pY = x*sin(theta_robot)+y*cos(theta_robot)+y_robot;
	*pZ = z+z_robot;
	//*pTheta = theta+theta_robot;
}

inline void EnvCoordSystem2Robot(double x_robot, double y_robot, double z_robot, double theta_robot, 
								 double x, double y, double z, //double theta,
								 double* pX, double* pY, double* pZ//, double* pTheta
								 )
{
	*pX = (x-x_robot)*cos(-theta_robot)-(y-y_robot)*sin(-theta_robot);
	*pY = (x-x_robot)*sin(-theta_robot)+(y-y_robot)*cos(-theta_robot);
	*pZ = z-z_robot;
	//*pTheta = theta-theta_robot;
}

inline void DecDeg2DegDecMin(double decdeg, int* pDeg, double* pDecMin)
{
	*pDeg = (int)decdeg;
	*pDecMin = fabs((decdeg-*pDeg)*60.0);
}

inline void DecDeg2DegMinDecSec(double decdeg, int* pDeg, int* pMin, double* pDecSec)
{
	double decmin;
	DecDeg2DegDecMin(decdeg, pDeg, &decmin);
	*pMin = (int)decmin;
	*pDecSec = (decmin-*pMin)*60.0;
}

inline void DegDecMin2DecDeg(int deg, double decmin, double* pDecDeg)
{
	*pDecDeg = (deg >= 0)?deg+fabs(decmin/60.0):deg-fabs(decmin/60.0);
}

inline void DegMinDecSec2DecDeg(int deg, int minute, double decsec, double* pDecDeg)
{
	double decmin = abs(minute)+fabs(decsec)/60.0;
	DegDecMin2DecDeg(deg, decmin, pDecDeg);
}

inline void GPSLatitudeDecDeg2DegDecMin(double decdeg, int* pDeg, double* pDecMin, char* pNorthOrSouth)
{
	DecDeg2DegDecMin(decdeg, pDeg, pDecMin);
	*pDeg = abs(*pDeg);
	*pNorthOrSouth = (decdeg >= 0)?'N':'S';
}

inline void GPSLongitudeDecDeg2DegDecMin(double decdeg, int* pDeg, double* pDecMin, char* pEastOrWest)
{
	DecDeg2DegDecMin(decdeg, pDeg, pDecMin);
	*pDeg = abs(*pDeg);
	*pEastOrWest = (decdeg >= 0)?'E':'W';
}

inline void GPSLatitudeDegDecMin2DecDeg(int deg, double decmin, char NorthOrSouth, double* pDecDeg)
{
	DegDecMin2DecDeg(abs(deg), fabs(decmin), pDecDeg);
	*pDecDeg = (NorthOrSouth == 'N')?*pDecDeg:-*pDecDeg;
}

inline void GPSLongitudeDegDecMin2DecDeg(int deg, double decmin, char EastOrWest, double* pDecDeg)
{
	DegDecMin2DecDeg(abs(deg), fabs(decmin), pDecDeg);
	*pDecDeg = (EastOrWest == 'E')?*pDecDeg:-*pDecDeg;
}

inline void GPSLatitudeDecDeg2DegMinDecSec(double val, int* pDeg, int* pMin, double* pDecSec, char* pNorthOrSouth)
{
	DecDeg2DegMinDecSec(val, pDeg, pMin, pDecSec);
	*pDeg = abs(*pDeg);
	*pNorthOrSouth = (val >= 0)?'N':'S';
}

inline void GPSLongitudeDecDeg2DegMinDecSec(double val, int* pDeg, int* pMin, double* pDecSec, char* pEastOrWest)
{
	DecDeg2DegMinDecSec(val, pDeg, pMin, pDecSec);
	*pDeg = abs(*pDeg);
	*pEastOrWest = (val >= 0)?'E':'W';
}

inline void GPSLatitudeDegMinDecSec2DecDeg(int deg, int minute, double decsec, char NorthOrSouth, double* pDecDeg)
{
	DegMinDecSec2DecDeg(abs(deg), abs(minute), fabs(decsec), pDecDeg);
	*pDecDeg = (NorthOrSouth == 'N')?*pDecDeg:-*pDecDeg;
}

inline void GPSLongitudeDegMinDecSec2DecDeg(int deg, int minute, double decsec, char EastOrWest, double* pDecDeg)
{
	DegMinDecSec2DecDeg(abs(deg), abs(minute), fabs(decsec), pDecDeg);
	*pDecDeg = (EastOrWest == 'E')?*pDecDeg:-*pDecDeg;
}

/*
Used by HSL2RGB().

double v1 : (IN) 
double v2 : (IN) 
double vH : (IN) 

Return : A value used by HSL2RGB().
*/
inline double Hue_2_RGB(double v1, double v2, double vH)
{
	if (vH < 0) vH += 1;
	if (vH > 1) vH -= 1;
	if (6.0*vH < 1) return (v1+(v2-v1)*6.0*vH);
	if (2.0*vH < 1) return (v2);
	if (3.0*vH < 2) return (v1+(v2-v1)*((2.0/3.0)-vH)*6.0);

	return v1;
}

inline void Gray2RGB_Matlab(UCHAR val, UCHAR* pR, UCHAR* pG, UCHAR* pB)
{
	double h = (2.0/3.0)-(2.0/3.0)*val/255.0;

	*pR = (UCHAR)(255.0*Hue_2_RGB(0,1,h+1.0/3.0));
	*pG = (UCHAR)(255.0*Hue_2_RGB(0,1,h));
	*pB = (UCHAR)(255.0*Hue_2_RGB(0,1,h-1.0/3.0));
}

inline void Gray2RGB_Seanet(UCHAR val, UCHAR* pR, UCHAR* pG, UCHAR* pB)
{
	double h = 1, h1 = 0, v1 = 0, v2 = 1;

	h1 = val/255.0;
	//h = (5.0/6.0)-(2.0/3.0)*h1;
	if (h1 < 1.0/6.0) {h = (5.0/6.0); v2 = 6.0*h1;}
	else if (h1 > 5.0/6.0) {h = (5.0/6.0)-(2.0/3.0); v1 = 6.0*(h1-5.0/6.0);}
	else h = (5.0/6.0)-(h1-1.0/6.0);

	*pR = (UCHAR)(255.0*Hue_2_RGB(v1,v2,h+1.0/3.0));
	*pG = (UCHAR)(255.0*Hue_2_RGB(v1,v2,h));
	*pB = (UCHAR)(255.0*Hue_2_RGB(v1,v2,h-1.0/3.0));
}

/*
Example : k in [0..4], m = 5
255 0 0 - 0
128 128 0 - 1
0 255 0 - 2
0 128 128 - 3
0  0 255 - 4

255-255*k/m, 255*(1-abs(2*(k/m-1/2))), 255*k/m

Be careful to rounding!

(int)(255-255*(int)k/((int)m-1)), 
(int)(255-abs((255*2*(int)k-255*((int)m-1))/((int)m-1))), 
(int)(255*(int)k/((int)m-1))
*/
inline void Gray2RGB_Quick(UCHAR val, UCHAR* pR, UCHAR* pG, UCHAR* pB)
{
	int r = 255-(int)val;
	int g = 255-abs(2*(int)val-255);
	int b = val;

	*pR = (UCHAR)r;
	*pG = (UCHAR)g;
	*pB = (UCHAR)b;
}

/*
Convert from HSL to RGB.

double h : (IN) 
double s : (IN) 
double l : (IN) 
UCHAR* r : (OUT) 
UCHAR* g : (OUT) 
UCHAR* b : (OUT) 

Return : Nothing.
*/
inline void HSL2RGB(double h, double s, double l, UCHAR* r, UCHAR* g, UCHAR* b)
{
	double var_1 = 0;
	double var_2 = 0;

	if (s == 0)
	{
		*r = (UCHAR)(l*255.0);
		*g = (UCHAR)(l*255.0);
		*b = (UCHAR)(l*255.0);
	}
	else
	{
		if (l < 0.5) var_2 = l*(1+s);
		else var_2 = (l+s)-(s*l);

		var_1 = 2*l-var_2;

		*r = (UCHAR)(255.0*Hue_2_RGB(var_1,var_2,h+1.0/3.0));
		*g = (UCHAR)(255.0*Hue_2_RGB(var_1,var_2,h));
		*b = (UCHAR)(255.0*Hue_2_RGB(var_1,var_2,h-1.0/3.0));
	}
}

/*
Convert from HSL to RGB.

double hue : (IN) Hue between 0..240.
double saturation : (IN) Saturation between 0..240.
double luminance : (IN) Luminance between 0..240.
double* pR : (OUT) Pointer to the red between 0..255.
double* pG : (OUT) Pointer to the green between 0..255.
double* pB : (OUT) Pointer to the blue between 0..255.

Return : Nothing.
*/
inline void HSL2RGB_MSPaint(double hue, double saturation, double luminance, double* pR, double* pG, double* pB)
{
	double var_1 = 0;
	double var_2 = 0;

	// Microsoft Paint limits for H,S,L are 0..240.
	hue = hue/240.0;
	saturation = saturation/240.0;
	luminance = luminance/240.0;

	if (saturation == 0)
	{
		*pR = luminance*255.0;
		*pG = luminance*255.0;
		*pB = luminance*255.0;
	}
	else
	{
		if (luminance < 0.5) var_2 = luminance*(1+saturation); else var_2 = (luminance+saturation)-(saturation*luminance);
		var_1 = 2*luminance-var_2;

		*pR = Hue_2_RGB(var_1, var_2, hue+1.0/3.0)*255.0;
		*pG = Hue_2_RGB(var_1, var_2, hue)*255.0;
		*pB = Hue_2_RGB(var_1, var_2, hue-1.0/3.0)*255.0;
	}
}

/*
Convert from RGB to HSL.

double red : (IN) Red between 0..255.
double green : (IN) Green between 0..255.
double blue : (IN) Blue between 0..255.
double* pH : (OUT) Pointer to the hue between 0..240.
double* pS : (OUT) Pointer to the saturation between 0..240.
double* pL : (OUT) Pointer to the luminance between 0..240.

Return : Nothing.
*/
inline void RGB2HSL_MSPaint(double red, double green, double blue, double* pH, double* pS, double* pL)
{
	double minval = min(red, min(green, blue));
	double maxval = max(red, max(green, blue));
	double mdiff = maxval-minval;
	double msum = maxval+minval;
	double hue = 0.0;
	double saturation = 0.0;
	double luminance = msum/510.0;

	if (maxval != minval)
	{
		double tmp = 60.0/mdiff;
		if (red == maxval)
		{
			hue = (green-blue)*tmp;
			if (hue < 0) hue += 360.0;
		}
		else if (green == maxval)
			hue = (blue-red)*tmp+120.0;
		else if (blue == maxval)
			hue = (red-green)*tmp+240.0;
		saturation = (luminance <= 0.5)? (mdiff/msum): (mdiff/(510.0-msum));
	}

	// Microsoft Paint limits for H,S,L are 0..240.

	*pH = hue*240.0/360.0;
	*pS = saturation*240.0;
	*pL = luminance*240.0;
}

/*
Convert from HSV to RGB.

double hue : (IN) Hue between 0..240.
double saturation : (IN) Saturation between 0..240.
double value : (IN) Value between 0..240.
double* pR : (OUT) Pointer to the red between 0..255.
double* pG : (OUT) Pointer to the green between 0..255.
double* pB : (OUT) Pointer to the blue between 0..255.

Return : Nothing.
*/
inline void HSV2RGB_MSPaint_Fake(double hue, double saturation, double value, double* pR, double* pG, double* pB)
{

	// From https://fr.wikipedia.org/wiki/Teinte_Saturation_Valeur,
	// https://en.wikipedia.org/wiki/HSL_and_HSV and https://stackoverflow.com/questions/51203917/math-behind-hsv-to-rgb-conversion-of-colors.

	int ti = 0;
	double l = 0, m = 0; //, f = 0, n = 0;

	hue = hue*360.0/240.0;
	saturation = saturation/240.0;
	value = value/240.0;

	ti = ((int)floor(hue/60.0))%6;
	//f = (hue/60.0)-ti;
	l = value*(1-saturation);
	m = value*(1-saturation*fabs(fmod(hue/60.0, 2)-1));
	//m = value*(1-f*saturation);
	//n = value*(1-(1-f)*saturation);

	switch (ti)
	{
	case 0:
		*pR = value*255.0;
		*pG = m*255.0; //*pG = n*255.0;
		*pB = l*255.0;
		break;
	case 1:
		*pR = m*255.0;
		*pG = value*255.0;
		*pB = l*255.0;
		break;
	case 2:
		*pR = l*255.0;
		*pG = value*255.0;
		*pB = m*255.0; //*pB = n*255.0;
		break;
	case 3:
		*pR = l*255.0;
		*pG = m*255.0;
		*pB = value*255.0;
		break;
	case 4:
		*pR = m*255.0; //*pR = n*255.0;
		*pG = l*255.0;
		*pB = value*255.0;
		break;
	case 5:
		*pR = value*255.0;
		*pG = l*255.0;
		*pB = m*255.0;
		break;
	default:
		*pR = 0;
		*pG = 0;
		*pB = 0;
		break;
	}
}

/*
Convert from RGB to HSV.

double red : (IN) Red between 0..255.
double green : (IN) Green between 0..255.
double blue : (IN) Blue between 0..255.
double* pH : (OUT) Pointer to the hue between 0..240.
double* pS : (OUT) Pointer to the saturation between 0..240.
double* pV : (OUT) Pointer to the value between 0..240.

Return : Nothing.
*/
inline void RGB2HSV_MSPaint_Fake(double red, double green, double blue, double* pH, double* pS, double* pV)
{

	// From https://fr.wikipedia.org/wiki/Teinte_Saturation_Valeur.

	double minval = min(red, min(green, blue));
	double maxval = max(red, max(green, blue));
	double mdiff = maxval-minval;
	double hue = 0.0;
	double saturation = (maxval == 0)? 0: (1-minval/maxval);
	double value = maxval/255.0;

	if (maxval != minval)
	{
		double tmp = 60.0/mdiff;
		if (red == maxval)
		{
			hue = (green-blue)*tmp;
			if (hue < 0) hue += 360.0;
		}
		else if (green == maxval)
			hue = (blue-red)*tmp+120.0;
		else if (blue == maxval)
			hue = (red-green)*tmp+240.0;
	}

	*pH = hue*240.0/360.0;
	*pS = saturation*240.0;
	*pV = value*240.0;
}

#ifndef DISABLE_REBOOT_FUNCTIONS
inline void RebootComputer(void)
{
#ifdef _WIN32

	// https://docs.microsoft.com/fr-fr/windows/desktop/Shutdown/displaying-the-shutdown-dialog-box

	HANDLE hToken;              // handle to process token 
	TOKEN_PRIVILEGES tkp;       // pointer to token structure 

	// Get the current process token handle so we can get shutdown privilege.  
	OpenProcessToken(GetCurrentProcess(), TOKEN_ADJUST_PRIVILEGES | TOKEN_QUERY, &hToken);

	// Get the LUID for shutdown privilege.  
	LookupPrivilegeValue(NULL, SE_SHUTDOWN_NAME, &tkp.Privileges[0].Luid);

	tkp.PrivilegeCount = 1; // One privilege to set.  
	tkp.Privileges[0].Attributes = SE_PRIVILEGE_ENABLED;

	// Get shutdown privilege for this process.  
	AdjustTokenPrivileges(hToken, FALSE, &tkp, 0, (PTOKEN_PRIVILEGES)NULL, 0);

	if (!InitiateSystemShutdown(NULL, NULL, 0, TRUE, TRUE))
	{
		PRINT_DEBUG_ERROR_OSMISC(("RebootComputer error (%s) : %s\n", strtime_m(), GetLastErrorMsg()));
	}

	// Disable shutdown privilege.  
	tkp.Privileges[0].Attributes = 0;
	AdjustTokenPrivileges(hToken, FALSE, &tkp, 0, (PTOKEN_PRIVILEGES)NULL, 0);
#else
	sync();
	if (reboot(RB_AUTOBOOT) < 0)
	{
		PRINT_DEBUG_ERROR_OSMISC(("RebootComputer error (%s) : %s\n", strtime_m(), GetLastErrorMsg()));
	}
#endif // _WIN32
}
#endif // !DISABLE_REBOOT_FUNCTIONS

/*
Wait for the user to press the ENTER key.

Return : Nothing.
*/
inline void WaitForENTER(void)
{
	fprintf(stdout, "Press ENTER to continue . . . ");
	(void)getchar();
}

#ifndef WINCE
/*
Prompt for the user to press any key until a specified timeout.

UINT timeout : (IN) Time to wait to get at least 1 char in ms (with a 
precision of tenths of s, max is MAX_TIMEOUT_PROMPTGETUSERINPUTTIMEOUT).

Return : The first character pressed.
*/
EXTERN_C char PromptForUserInputTimeout(UINT timeout);

/*
Wait for the user to press any key until a specified timeout.

UINT timeout : (IN) Time to wait to get at least 1 char in ms (with a 
precision of tenths of s, max is MAX_TIMEOUT_PROMPTGETUSERINPUTTIMEOUT).

Return : The first character pressed.
*/
EXTERN_C char GetUserInputTimeout(UINT timeout);

/*
Prompt for the user to press any key.

Return : The first character pressed.
*/
EXTERN_C char PromptForUserInput(void);

/*
Wait for the user to press any key.

Return : The first character pressed.
*/
EXTERN_C char GetUserInput(void);

/*
Wait for the user to press any key.
See also getch() or kbhit() functions (conio.h).

Return : Nothing.
*/
EXTERN_C void WaitForUserInput(void);
#endif // !WINCE

/*
Allocate memory for an array of height*width and initialize it to 0.
An element of this array can then be accessed as follows :

allocated_array[i][j]

The memory allocated can then be freed with free_array2()

int height : (IN) Height of the array to allocate.
int width : (IN) Width of the array to allocate.
size_t SizeOfElements : (IN) Length in bytes of each element.

Return : A pointer to the allocated space.
*/
EXTERN_C void* calloc_array2(int height, int width, size_t SizeOfElements);

/*
Allocate memory for an array of height*width*depth and initialize it to 0.
An element of this array can then be accessed as follows :

allocated_array[i][j][k]

The memory allocated can then be freed with free_array3().

int height : (IN) Height of the array to allocate.
int width : (IN) Width of the array to allocate.
int depth : (IN) Depth of the array to allocate.
size_t SizeOfElements : (IN) Length in bytes of each element.

Return : A pointer to the allocated space.
*/
EXTERN_C void* calloc_array3(int height, int width, int depth, size_t SizeOfElements);

/*
Free memory allocated by calloc_array2().

void*** p : (INOUT) Array previously allocated.
int height : (IN) Height of the array.

Return : Nothing.
*/
EXTERN_C void free_array2(void** p, int height); 

/*
Free memory allocated by calloc_array3().

void*** p : (INOUT) array previously allocated.
int height : (IN) Height of the array.
int width : (IN) Width of the array.

Return : Nothing.
*/
EXTERN_C void free_array3(void*** p, int height, int width);

inline void useless_function(int useless_param)
{
	UNREFERENCED_PARAMETER(useless_param);
	printf("This function is not so useless!\n");
}

// min and max might cause incompatibilities...
#ifdef max
#undef max
#endif // max
#ifdef min
#undef min
#endif // min

#endif // !OSMISC_H